Land-based local ranging signal methods and systems

ABSTRACT

To provide sub-meter accuracy in a local positioning system, ranging signals with a high modulation rate of code, such as 30 MHz, or more are transmitted. Code phase measurements may be used to obtain the accuracy without requiring relative motion or real time kinematic processing. The ISM or X-band is used for the carrier of the code to provide sufficient bandwidth within available spectrums. The length of codes used is less than or about a longest length across the region of operation, such as less than 15 kilometers in an open pit mine. The spread spectrum codes from different land-based transmitters are transmitted in time slots pursuant to a time division multiple access scheme for an increase in dynamic range. To avoid overlapping of code from different transmitters, each time slot includes or is separated by a blanking period. The blanking period is selected to allow the transmitted signal to traverse a region of operation. Differential measurements of signals received at a base station and a mobile receiver may improve accuracy.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.10/909,020, filed Jul. 30, 2004, the entire disclosure of which isincorporated herein by reference.

BACKGROUND

The present invention relates to range or position determination. Inparticular, signal structures, transmitters, receivers, other componentsand/or methods of operation of a ranging or positioning system areprovided.

Global navigation satellite systems (GNSS) allow a receiver to determinea position from ranging signals received from a plurality of satellites.Different GNSS systems are available or have been proposed, such as theglobal positioning system (GPS), Gallileo or GLONASS. The GPS has bothcivilian and military applications. Different ranging signals are usedfor the two different applications, allowing for different accuracies inposition determination.

Position is determined from code and/or carrier phase information. Acode division multiple access code is transmitted from each of thesatellites of the global positioning system. The spread spectrum code isprovided at a 1 MHz modulation rate for civilian applications and a 10MHz modulation rate for military applications. The code provided on theL1 carrier wave for civilian use is about 300 kilometers long. The codesfrom different satellites are correlated with replica codes to determineranges to different satellites. Using civilian code phase information,an accuracy of around one or two meters may be determined. Centimeterlevel accuracy may be determined using real-time kinematic processing ofcarrier phase information. A change in position of the satellites overtime allows resolution of carrier phase ambiguity.

In addition to satellite based systems, land-based transmitters may beused for determining a range or position. Land based transmitters mayinclude pseudolites. Pseudolite systems have been proposed for landingaircraft and determining a position of a cellular telephone. Pseudolitestypically use GPS style signals or codes. For example, a GPS spectrumcode is transmitted on a same or different carrier frequency as used forGPS. Code division multiple access (CDMA) may be over-laid with timedivision multiple access (TDMA) methods to increase a dynamic range ofthe GPS style coded signals. Some pseudolites systems are arranged foruse with GNSS. As a result of using GNSS types of signals, psuedolitesystems may be limited to several meters of accuracy based on code phasemeasurements.

BRIEF SUMMARY

The present invention is defined by the following claims, and nothing inthis section should be taken as a limitation on those claims. By way ofintroduction, the preferred embodiments described below include methodsand systems for a land-based range or position determination. To providesub-meter accuracy, ranging signals with a high modulation rate of code,such as 30 MHz or more, are transmitted. Code phase measurements may beused to obtain the accuracy without requiring relative motion or realtime kinematic processing to resolve any carrier cycle ambiguity. TheISM bands or X-band is used for the carrier of the code to providesufficient bandwidth within available spectrums. The length of codesused is at least about a longest length across the region of operation,yet less than an order of magnitude longer, such as about 15 kilometersin an open pit mine, but other lengths may be used. The spread spectrumcodes from different land-based transmitters are transmitted in timeslots pursuant to a time division multiple access scheme for an increasein dynamic range. The dynamic range is a range of power over which areceiver can track a signal, to distinguish from “range” as in distancemeasurement. To avoid overlapping of code from different transmitters,each time slot includes or is separated by a blanking period. Theblanking period is selected to allow the transmitted signal to traversea region of operation without overlap with a signal transmitted in asubsequent time slot by a different transmitter. Differentialmeasurements of signals received at a base station and a mobile receivermay allow for improved accuracy. Any one or more of the signal structurecharacteristics summarized above may be used independently or incombination with other signal characteristics in a land-basedtransmitter system.

In addition to or for use independently of the signal structurecharacteristics discussed above, the land-based transmitters includefree running oscillators or oscillators free of clock synchronizationwith any remote oscillator. A reference receiver receives the rangingsignals from different transmitters and generates timing offsetinformation, such as code phase measurements. The timing offsetinformation is then communicated back to transmitters. The temporaloffset information indicates relative timing or phasing of the differenttransmitted ranging signals to the reference receiver. The transmittersthen transmit the temporal offset information with the ranging signals,such as modulating the transmitted code by the timing offsetinformation. A mobile receiver is operable to receive the rangingsignals and timing offset information in a same communications path,such as on a same carrier. Alternatively, the timing offset informationis communicated from the reference directly to the mobile. A system withoscillators that are synchronized with GNSS or any other synchronizationsource may be used. Position is determined with the temporal offsetinformation and the ranging signals. The temporal offset information forthe various transmitters allows the mobile receiver to more accuratelydetermine position than in an unsynchronized system. Various aspects ofthe synchronization of the system discussed above may be usedindependently of each other or in combination.

In addition to or for use independent from the above describedsynchronization and signal characteristics, other features are providedin a land-based ranging system. For example, augmentation of theland-based system is provided by receiving signals from a GNSS. Thesignals from the land-based positioning system have code phase accuracybetter than one wavelength of a carrier of the signals from the GNSS.Different decorrelation may be used for signals from a satellite thanfrom a land-based transmitter, such as using a digital decorrelator forsignals from the satellite and an analog decorrelator for signals from aland-based transmitter. The receivers may include both a GNSS antennaand a higher frequency microwave antenna, also referred to as a localantenna. The term “microwave” is used here to include frequencies fromabout 900 MHz to 300 GHz. The phase centers of the two antennas arewithin one wavelength of the GNSS signals from each other. The microwaveantenna is sized for operation in the X or ISM-bands of frequencies. TheGNSS antenna is a patch antenna where the microwave antenna may extendaway from the patch antenna in at least one dimension. Any of thevarious characteristics of an augmented GNSS and land-based rangingsystem may be used independently or in combination.

In addition to or for use independent of the signal characteristics,synchronization characteristics or augmentation characteristicsdiscussed above, a receiver is adapted for receiving signals from aland-based transmitter. The receiver includes an analog decorrelator fordecorrelating the transmitted spread spectrum signals. A down converterconnected with an antenna may be spaced away from other portions of thereceiver. The down converter down converts received ranging signals andprovides them to the remotely spaced receiver portions. A signal lineconnecting the down converter to the receiver may be operable totransmit any two or more of a reference signal provided to the downconverter, the down converted intermediate frequency signals provided tothe receiver, and power provided to the down converter. The receiver maybe positioned adjacent to or as part of a land-based transmitter. Bydetermining positions of two or more antennas, the location of theassociated transmitter is determined. Any of the various receivercharacteristics described above may be used independently or incombination.

In a first aspect, a method is provided for determining a range from atransmitter with a ranging signal received from the transmitter. Theranging signal has a code and carrier wave. The ranging signal istransmitted with the modulation rate of the code being at least about 30MHz.

In a second aspect, a method is provided for determining a range from areceiver to a land-based transmitter. Ranging signals having a code andcarrier wave are transmitted and received. The range is determined as afunction of the code. Measurements of the code have accuracy to betterthan one meter.

In a third aspect, a method is provided for determining a position of areceiver within a region of operation. Ranging signals are transmittedfrom two transmitters. The transmissions are performed in different timeslots separated by a blanking period. The position is determined at areceiver as a function of the ranging signals.

In a fourth aspect, an improvement is provided for a method fordetermining a relative position of a receiver from ranging signalstransmitted from a stationary land-based transmitter. The position isdetermined to within sub-meter accuracy with differential measurement ofthe ranging signals. The ranging signals are at a substantially samecenter frequency. The determination is free of required movement of thereceiver.

Further aspects and advantages of the invention are discussed below inconjunction with the preferred embodiments. The further aspects andadvantages may be later claimed independently or in combination.

BRIEF DESCRIPTION OF THE DRAWINGS

The components and the figures are not necessarily to scale, emphasisinstead being placed upon illustrating the principles of the invention.Moreover, in the figures, like reference numerals designatecorresponding parts throughout the different views.

FIG. 1 is a graphical representation of one embodiment of a localpositioning system with GNSS augmentation in an open pit mine;

FIG. 2 is a graphical representation of one embodiment ofcharacteristics of a code and carrier of radio frequency rangingsignals;

FIG. 3 is a graphical representation of time division multiple accesstransmissions used in a local positioning system of one embodiment;

FIG. 4 is a graphical representation of time division multiple accesstransmissions of another embodiment;

FIG. 5 is a graphical representation of the distribution of localtransmitters and receivers for differential positioning in oneembodiment;

FIG. 6 is a graphical representation of the distribution of localtransmitters and receivers for differential positioning in anotherembodiment;

FIG. 7 is a block diagram of one embodiment of a land-based transmitter;

FIG. 8 is a block diagram of one embodiment of a receiver using twodifferent ranging methods;

FIG. 9 is a block diagram of another embodiment of a receiver using twodifferent ranging methods;

FIG. 10 is a block diagram of one embodiment of digital logicimplemented in a receiver;

FIG. 11 is a block diagram of one embodiment of a receiver with aseparated or remote down converter module;

FIG. 12 is a graphical representation of one embodiment of positionsolutions based on a number of available satellites and land-basedtransmitters;

FIG. 13 is a flow chart of one embodiment of a method of solving for aposition using local positioning and a GNSS;

FIG. 14 is a graphical representation of an embodiment of combined GNSSand local positioning receive antennas;

FIGS. 15A and B graphically represent another embodiment of combinedGNSS and local positioning antennas;

FIG. 16 is yet another embodiment of combined GNSS and local positioningantennas;

FIG. 17 is a graphical representation of one embodiment ofself-surveying transmitter antenna of a local positioning system;

FIG. 18 is a block diagram of one embodiment of a receiver;

FIG. 19 is a flow chart diagram of one embodiment of a method fordetermining range information in a local positioning system;

FIG. 20 is a flow chart diagram of one embodiment for determining aposition of a transmitter;

FIG. 21 is a flow chart diagram of one embodiment for decorrelation todetermine a position; and

FIG. 22 is a flow chart diagram of one embodiment of a method for remotedown conversion of received local positioning system ranging signals.

DETAILED DESCRIPTION OF THE DRAWINGS AND PRESENTLY PREFERRED EMBODIMENTS

GNSS relies on access to a plurality of satellites at any given locationon the globe. For example, access to at least five satellites allows forposition solution with carrier phase based centimeter accuracy. Somelocations lack sufficient access to satellites. For example, FIG. 1shows a system 10 with a plurality of satellites 12A-N relative to anopen pit mine. A reference station 18 and mobile receiver 22 have linesof sight 14B, 14C to two satellites 12B, 12C but the walls of the mineblock access to signals from other satellites 12A, 12N. In order toprovide accurate positioning, a plurality of land-based transmitters16A-N are positioned within, encircling, around, or combination thereofthe mine.

The land-based transmitters 16, reference station 18 and/or mobilereceiver 22 are a local positioning system. The local positioning systemis operable without the satellites 12, but may be augmented with thesatellites 12. Additional, different or fewer components may beprovided, such as providing a greater or less number of land-basedtransmitters 16. As another example, the local positioning system mayuse a mobile receiver 22 without a reference station 18. A receiver mayuse signals from the local positioning system to determine a position orrange. For example, the range from any one or more of the land-basedtransmitters 16 to either the reference station or the mobile receiver22 is determined. A position may be determined from a plurality ofranges to other land-based transmitters 16. Using the reference station18, additional accuracy in determining the position of the mobilereceiver may be provided.

The land-based transmitters 16 are positioned at any of variouslocations within or around the mine. The land-based transmitters 16include transmitters on poles, towers, directly on the ground, onstands, or other locations where the transmitter is maintained in asubstantially same position relative to the ground. The land-basedtransmitters 16 are positioned such that most or all locations in themine have line-of-sight access to four or more land-based transmitters16. Access to a fewer number of transmitters may be provided.

The mobile receiver 22 is positioned on a piece of equipment, such as atruck, crane, excavator, vehicle, stand, wall or other mobile orpossibly moving piece of equipment or structure. The reference station18 is a land-based receiver, such as a receiver on a pole, tower, stand,directly on the ground or other position maintained in a substantiallysame location relative to the ground. While the reference station 18 isshown separate from the land-based transmitter 16, the reference stationmay be located with one or more of the land-based transmitter 16. Morethan one reference station 18 may be used. Both of the reference station18 and mobile receiver 22 are operable to receive transmitted rangingsignals from at least one of the land-based transmitters 16. FIG. 5shows a top view of FIG. 1. As shown in FIGS. 1 and 5, a differentialsolution technique may be used. The ranging signals from one or more ofthe land-based transmitters 16 or other transmitters are received byboth the reference station 18 and the mobile receiver 20. Bycommunicating information on link 20 from the reference station 18 tothe mobile receiver 22, additional accuracy in determining a positionmay be provided.

The local positioning system uses GNSS, such as GPS, ranging signals fordetermining the position of the mobile receiver. For example, theranging signal is transmitted at the L1, L2, or L5 frequencies with adirect-sequence, spread spectrum code having a modulation rate of 10 MHzor less. A single cycle of the L1 frequency is about 20 centimeters inlength, and a single chip of the spread spectrum code modulated on thecarrier signal is about 300 meters in length. The code length is about300 kilometers. The transmitters 16 continuously transmit the codedivision multiple access codes for reception by the receivers 18, 22. Inthe absence of movement by the mobile receiver 22, integer ambiguity ofthe carrier phase may be unresolved. As a result, code based accuracyless accurate than a meter is provided using GPS signals. Given movementof the mobile receiver 22, carrier phase ambiguity may be resolved toprovide sub-meter or centimeter level accuracy.

In an alternative embodiment, different ranging signals are used by thelocal positioning system. FIG. 2 shows one embodiment of a rangingsignal. The carrier wave of the ranging signal is in the X or ISM-bands.The X-band is generally designated as 8,600 to 12,500 MHz, with a bandfrom 9,500 to 10,000 MHz or other band designated for land mobileradiolocation, providing a 500 MHz or other bandwidth for a localtransmitter. In one embodiment, the carrier frequency is about 9750 MHz,providing a 3 centimeter wavelength. The ISM-bands include industrial,scientific and medical bands at different frequency ranges, such as902-928 MHz, 2400-2483.5 MHz and 5725-5850 MHz. The frequency and thebandwidth may be limited by government regulatory constraints. Otherfactors that affect the frequency and bandwidth include signalpropagation properties. Different frequency bands for the carrier wavemay be used, such as any microwave frequencies, ultra wide bandfrequencies, GNSS frequencies or other RF frequencies.

The ranging signals have a Direct-Sequence Spread Spectrum (DSSS) code.For example, a direct sequence code such as a Maximal Length LinearFinite Shift Register (MLFSR), a Gold or other pseudo-random noise (PN)code is provided. Other codes may be used. The code is modulated with acarrier at a modulation rate. For DSSS codes, the modulation rate iscalled the chipping rate. The modulation rate of the code is at least 30MHz, at least 60 MHz, at least three times a GNSS modulation rate orother modulation rate. Given high bandwidth available at the chosencarrier frequency, greater or lesser modulation rates may be provided,such as 200 MHz. In one embodiment, the modulation rate is less than 250MHz. Greater modulation rates may be used, such as rates categorizedunder Ultra Wide Band regulation. Given a 200 MHz modulation rate of thecode, the width of each chip is 1.5 meters. In yet another alternativeembodiment, a modulation rate of the code less than 30 MHz, such as 10MHz or fewer, is used. The modulation rate is the same for each of thetransmitters. The code used by each transmitter may be the same ordifferent. In alternative embodiments, the modulation rate may also bedifferent or the same for different transmitters.

The accuracy of the system to a first order is proportional to the codemodulation rate. The rate is provided as high as possible to meet thedesired accuracy but bounded by the available bandwidth, carrierfrequency, hardware and other constraints. The modulation rate must bebelow or equal to the carrier frequency. In one embodiment, the nominalmodulation rate is set to half of the available bandwidth, but may begreater and filtered to meet constraints of the available bandwidth, orlesser. The high bandwidth or modulation rate of the code may providecode based accuracy for range or position less than one wavelength of anL1 or L2 GPS frequencies. The accuracy of a signal is the accuracy of ameasurement of the signal made by a receiver. The accuracy is sub-meter,such as being better than 19 or 24 centimeters. In one embodiment, thecode-based range accuracy is better than 4 centimeters. In one method,accuracy is calculated with RMS code tracking errors. The RMS codetracking error for a single land-based transmitter 16 is computed fromthe radio navigation signal power present at the input terminals of areceiver. The ranging signal in one example is a pseudo random BinaryPhase Shift Key (BPSK) signal centered at 9,750 MHz with a modulationrate of 30 million chips per second, so that the length of one chip inspace is about 10 meters, and a peak transmit power of 1 Watt. Theranging signal is pulsed on and off in a duty cycle of 4 percent. A plus10 dBIC gain Right Hand Circularly Polarized (RHCP) transmit antenna anda 0 dB gain RHCP receive antenna are assumed. The propagationenvironment is assumed to be free space with a maximum distance of 15kilometers. Using a Friis transmission formula, the power available tothe receiver is −110 dBm. The RMS code tracking jitter with the inputpower level of −110 dBm is computed. X-band receiver noise is assumed tobe about 4 dB, resulting in a −170 dBm/Hz of the thermal noise power atthe receiver input. The Delay Lock Loop (DLL) loop bandwidth is assumedto be 10 Hz, the predetection integration time is assumed to be 40microseconds, the correlator chip spacing is assumed to be one chip, andno carrier smoothing is implemented. The RMS code tracking errorresulting from these assumptions is 3.2 centimeters, or about 1/300 ofthe length of a single code chip. This fraction ( 1/300 of a single codechip) is one way to quantify the accuracy of a code signal. The 3.2centimeters provides the 1-standard-deviation (1-Sigma) error on rangefor one transmitter 16. Accuracy is provided for 1-standard-deviation orbetter, such as 2- or 3-standard-deviations (e.g. 2-Sigma, 3-Sigma), butnot worse, such as less than 1-standard-deviation. To estimate accuracyfor a three-dimensional position solution, the 1-Sigma error ismultiplied by the Dilution of Precision (DOP). Assuming a worst case DOPof 4.0, a 1-Sigma position error of 12.8 centimeters is provided. 12.8centimeters is well within one wavelength of a GPS carrier. Better than12 cm position accuracy may be provided. The accuracy was calculatedabove based on a number of assumptions and a particular ranging signal.Other ranging signals may be used with the same or different accuracyand using different assumptions. Using only a code phase measurement ofthe ranging signals shown in FIG. 2, centimeter level or sub-meter levelposition accuracy may be provided. When computed for a modulation rateof 200 MHz with the same assumptions, about 8.6 millimeters code phaseaccuracy is provided.

Accuracy may be improved by providing differential measurements of theranging signals, particularly in the case of transmitters free ofsynchronization. For example, the reference station 18 and the mobilereceiver 22 both measure a same ranging signal transmitted by a sameland-based transmitter 16. The differential between phase measurementsperformed by the reference station 18 and the mobile receiver 22systematically removes the unknown clock of the transmitter, as well asother common mode errors possibly including cable and receiver circuitrybiases, and results in one unknown time difference between the referenceand mobile receivers. Additional differential phase measurements fromadditional transmitters have the same one unknown time differencebetween the reference and mobile receivers. The fewer unknown variablesand reduced common mode errors due to differential phase measurementsresults in improved accuracy of the mobile receiver relative to thereference. Accuracy may be further improved by placing the transmitterin a location relative to other transmitters (and satellites) thatimproves the dilution of precision (DOP). Generally, DOP is improved byplacement in a region most orthogonal to other transmitters/satellites,as viewed from the receiver.

The ranging signals are further characterized by the length of the code.The local positioning system is operated within a region. The chip widthand code length are set as a function of a longest dimension over whicha ranging signal from a particular land-based transmitter 16 willtraverse within the region of operation. In one embodiment, the chipwidth in space is much shorter than up to approximately equal to thelongest dimension of the region of operation. The chip width of the codeis directly related to the modulation rate by the speed of light.Therefore, selecting the chip width according to the region of operationis an alternative way to select a minimum modulation rate. In theembodiment shown in FIG. 2, the chip width is 1.5 meters, less than tenmeters, or another value much less than the longest dimension of alikely region of operation.

In one embodiment, the code length in space is approximately equal to orslightly longer than a longest dimension of the region of operation. Inanother embodiment, the code length may be shorter. The code length inbits is equal to the modulation rate times the code length in spacedivided by the speed of light. Most easily generated codes have lengthsclose to powers of 2. For example, an N-bit MLFSR or Gold code registergenerates a code (2^N)-1 bits long. Given a desired initial code lengthin space and initial modulation rate, the nearest available code lengthin bits that is a power of two may be chosen. The code length in spaceor the modulation rate or both are adjusted accordingly. “Approximatelyequal” may include shorter code lengths than the region of operation.The code length in bits is calculated from the desired length and chiprate, and then adjusted to the next highest power of 2. The code lengthin space is then recalculated to provide the code length used. Forexample, the longest dimension of the region of operation is 10kilometers in an open pit mine. The length of a 10 km code in bits at a200 MHz chip rate is 10 km*200 MHz divided by the speed of light, whichresults in 6667 bits. The nearest easily generated code is 8191 bitslong, so the code length in space is lengthened to 12.3 km. A lesser orgreater code length may be provided for a 10 kilometer region ofoperation. Other code lengths may be used for the same sized or othersized regions of operation.

The length of code ensures that each measured code phase defines aunique range within the region of operation. A set of four measured codephases define a unique three-dimensional position and time within theregion. The region of operation is the open pit mine or the region ofthe open pit mine associated with line of sight from a particularland-based transmitter 16. The region of operation may be the same ordifferent for each land-based transmitter 16.

The local positioning system may have a code length set in common forany of a number of different uses. Alternatively, the code length isprogrammable to be configured depending on the different use or relativesize of a region of operation for a given use.

As shown in FIG. 2, another possible characteristic of the rangingsignal for each given transmitter is that the ranging signal istransmitted in a time slot. The Direct-Sequence Spread Spectrum (DSSS)code is turned on and off periodically pursuant to a time divisionmultiple access scheme. The DSSS code is a ranging code, or moreconcisely here, a “code.” Time division multiple access for the localpositioning system increases the dynamic range. The number of time slotscorresponds to the number of transmitters 16. The length and number ofthe time slots set the repeat period for each transmitter 16. The repeatperiod may be set based on the mobile user dynamics. The mobile receiver22 makes range measurements and calculates position from the rangemeasurements. The maximum acceleration and velocities of the mobilereceiver 22 within the region of operation are taken into account bysetting the repeat period. For faster moving mobile receivers 22, thelocal positioning system makes more rapid measurements over a shorterrepeat period. A new measurement may be made each time the transmittedcode is repeated. For faster mobile user dynamics, shorter repeatperiods of the code are provided. For civilian GPS code, a repeat periodof one millisecond is used. The fastest possible range measurementupdate is 1 KHz with a typical position measurement update of 10 Hertzor every 100 milliseconds. Update rates and repeat periods may be slowerfor users that move slower but desire greater accuracy. For example,tracking earth movement and deformation modeling or earthquakeprediction may use much greater repeat periods, but update rates may befaster for faster moving mobile receivers, such as race cars on a track.Various methods may be used to predict the user dynamics to allow forlonger repeat period. A nominal setting for the repeat period provides100 times the bandwidth of the user dynamics. Other weighting valuesthan 100 may be used, such as greater or lesser values. In the open pitmining embodiment, one millisecond repeat period is used, but otherrepeat periods may be provided.

The number of time slots available to the local positioning system isequal to the repeat period times the speed of light divided by the codelength in space. Using time division multiple access, only onetransmitted signal is desired to be present in the operating space forany given location at a given time. A ranging signal with a code lengthapproximately equal to the size of the operating space is transmitted inone time slot. An additional time slot or a longer time slot period isprovided to allow the transmitted ranging signal to traverse theoperating space. This blank period is about as long a code length inspace, but may be longer or shorter. Each transmitter 16 transmits in adifferent time slot with an associated blanking period. Given the codelength and corresponding blanking period, the transmitter capacity isequal to half the number of time slots calculated as discussed above.The desired transmitter capacity may include 4, 10, 100 or other numbersof transmitters. Through iteration, ranging signals with the desiredcapabilities may be provided for various types of operation.

The ranging signal transmitted in each of the time slots is synchronizedto within at least three microseconds of other ranging signals, butlonger or shorter time periods may be used. Using the open pit mineexample discussed above, 12 time slots are available where each timeslot is twice the length of the code. The time slot includes a periodfor transmission of the code and a subsequent blanking period. Thetransmitted code is aligned to the beginning of the time slot and thetime slot is maintained to a global time to better than a fewmicroseconds, such as synchronized to within at least 3 microseconds.The slot timing accuracy is provided from received GPS signals, a radiopulse, a common cable connected between different components, cablemodem connections between different components, programmed clocksettings, combinations thereof or other mechanisms for generallyaligning time slots. In one embodiment, the timeslots are arbitrarilyselected and fixed per transmitter. In another embodiment, a user mayremotely configure the transmitter timeslot. In yet another embodiment,a transmitter may have a sensor to detect energy transmitted by othertransmitters, and dynamically select an empty timeslot.

FIG. 3 shows one representation of the TDMA/DSSS ranging signalstransmission and reception scheme. Multiple DSSS signals are transmittedin unique TDMA time slots. Each transmitter transmits two unique DSSScodes or two instances of the same code, designated C11 and C12 fortransmitter 1, C21 and C22 for transmitter 2 and so on. The codes fromany one transmitter may be different to enable a receiver 18, 22 toeasily distinguish between a time period to accumulate the detectionmeasurements and another time period to accumulate trackingmeasurements.

The process of tracking a DSSS signal in TDMA uses two control signals,a detection signal for detecting correlation power between an incomingsignal and an internally generated replica, and a tracking signal forfeedback in a delay lock loop control scheme. The tracking signal isgenerated by correlating the incoming signal with an internallygenerated early-minus-late replica. One transmitter transmits two codesin immediate succession, such as two codes taking a total time of about41 microseconds. A blank period of similar length follows thetransmission of the ranging signal. A different transmitter subsequentlytransmits two codes in immediate succession, with the process repeatingfor all transmitters and each of the different time slots. Within themobile receiver 22, channels are switched between different internallygenerated digital codes to control which code is sent to a mixer.Another switch prior to the channel switch switches between detectionand tracking signals. When the receiver tracks a transmitter code, theinternally generated replica of the code is delayed by a period of timethat corresponds to the range of the receiver 18, 22 from thetransmitter 16. The receiver's internally generated C11 detection andC12 tracking codes are shown in FIG. 3 for tracking the ranging signalstransmitted by the first transmitter 16, delayed by the time of flightover the range from the first transmitter 16 to the mobile receiver 22.In the second time slot, the mobile receiver 22 internally generates theC21 detection and C22 tracking codes to track the ranging signaltransmitted by the second transmitter 16, delayed from the start of thesecond time slot by the time of flight of the range between the secondtransmitter 16 and the mobile receiver 22. The process is repeated foreach of the transmitter and receiver channels. After a 1 millisecond orother repeat period, the process is repeated for the same transmitters.

FIG. 4 shows an alternative scheme for transmitting signals than shownin FIG. 3. In the scheme shown in FIG. 4, a transmitter 16 transmits thetwo different codes in two different repeat cycles. For example, a firstcode C11 by the first transmitter 16 is transmitted in a first cycle anda second code C12 is transmitted in a second repeat cycle of the timedivision multiple access scheme. The pair of repeat periods is thenrepeated. Correspondingly, the receiver generates the replica prompt andtracking codes on alternate repeat periods to correspond to thetransmitted signal. In another embodiment, a single code is used by eachtransmitter 16. In yet another embodiment, continuous, non-TDMAtransmission is used by each land-based transmitter 16.

The local ranging signals and positioning system having any one or moreof the signal characteristics may be used in many differentenvironments. In the example of FIG. 1, the local positioning system isused in an open pit mine. The local positioning system is used to trackand guide machinery such as haul trucks, drills, shovels, or bulldozers.The positioning information is used for machine guidance, machine-toolguidance, geographic surveying, operation scheduling, determiningdeformation of a wall or other structure to predict collapse andavoiding hazards. Other uses may be provided. Centimeter level accuracyallows these uses to be more versatile. With a real time update rate of10 Hz or higher, vehicle speeds of about 50 miles per hour may beaccurately tracked. Greater or lesser update rates and associated speedsmay be provided. By allowing the interaction of a multiple land-basedtransmitter 16, such as 10 to 100 transmitters, an entire open pit minemay be covered by ranging signals. For any given location within themine at least four different land-based transmitters are within the lineof sight of the mobile receiver. The coverages of 15, 10 or otherkilometer sizes. A dynamic range of 10 meters to 10 kilometers isprovided.

Another use of the local positioning system is within a constructionsite. Strategic placement of land-based transmitters may enablecentimeter or sub-centimeter level accuracy, such as better than a GPSreal time kinematic solution, along any desired dimension. Land-basedtransmitters placed mostly overhead or below a mobile receiver mayimprove vertical accuracy to sub-centimeter. A real-time update rate of10 Hertz or higher allows for detection with vehicle speeds of 30 milesan hour or more. The range of operation is likely less than 1 kilometer.Larger or shorter ranges may be used. The desired dynamic range may befrom one meter to one kilometer, but other values may be provided. Usingtens of transmitters, an entire construction site may be covered by thelocal positioning system, allowing tracking and guidance of machinerysuch as excavators, motor graders or trucks. Operation of scheduling andgeographic surveying may also be performed.

Another use for the local positioning system is within a city (“UrbanCanyon”). Centimeter level accuracy, such as comparable to the highestavailable accuracy from GPS, may be desired, but lesser accuracy ispossible. A real time update rate associated with 10 Hertz or higher mayallow tracking of user speeds of 40 miles an hour or more. Higher speedsmay be provided. Given the typical grid or various street layouts ofcities, hundreds of transmitters may be used. Alternatively, fewertransmitters are used to cover less of a city. Any of varioustransmitter ranges may be used, such as line of sight down one or morestreets for a kilometer or more. Transmitter powers may be associatedwith coverage of a limited a number of blocks, such as four or fewerblocks. Using a large dynamic range in power, such as corresponding totracking ranges in distance from one meter to one kilometer, variouslocations and tracking operations within the city may be performed. Forexample, location based services are provided for cell phones orpersonal data assists. The nearest restaurant or movie theater may thenbe located using the local positioning system. Vehicle guidance, such asproviding map information, is provided even where GPS would be blockedby buildings. Certain vehicles may require their positions monitoredcontinuously for security reasons. Handicapped people may be assisted bydetermining the location within a city of desired facilities oravailable entrances.

Yet another use for the local positioning system may be within awarehouse or manufacturing plant for automatic guidance of vehicles tocontrol inventory or for assembly line robot positioning. Race cars,vehicles or animals on a race track may be tracked. Contestants, orobjects (e.g., a ball) may be tracked where a local positioning systemis set up within a stadium. Cameras may be automatically tracked andguided within the stadium. Other completely enclosed or locationsassociated with one or more man made or natural walls may take advantageof the local positioning system. Forest regions or jungles being usedfor seismic studies may also benefit from a local positioning systemwith ranging signals that may penetrate foliage where GPS signals maynot. The local positioning system may alternatively be used in openareas, including small areas or areas over many miles, to augment orreplace GPS for more accurate positioning.

The transmitters 12 are either synchronized with each other or haveasynchronous clocks. Referring to FIG. 5, various transmitters 16, thereference station 18 and the mobile receiver 22 operate as asynchronized local positioning system. The clocks of the variouscomponents are synchronized to a master signal by communicating timinginformation using radio modems 50 and 52 as well as other radio modemsassociated with the transmitters 16. The timing of various oscillatorsin a positioning system is addressed either directly by synchronizingthe oscillators or indirectly by continuously measuring time differencesbetween different oscillators. To first order, two oscillators maydiffer by a phase and by a phase rate. Synchronization may firstlycomprise frequency synchronization and secondly phase synchronization.Frequency synchronization involves a feedback control in which a firstoscillator's phase rate is driven to zero with respect to anotheroscillator. Phase synchronization involves a feedback control in which afirst oscillator's phase is driven to match a second oscillator. Phasesynchronization may be code- and/or carrier-based.

In one embodiment, each local transmitter 16 is synchronized to anexternal source, for example a GNSS signal. The local transmitter 16 maybe frequency and/or code-phase synchronized to a GNSS signal.Carrier-phase synchronization of a single local transmitter 16 to a GNSSsignal may not be performed because carrier measurements have littlemeaning except in a differential mode. GNSS carrier measurements may beused to filter code measurements. The transmitter 16 is coupled with aGNSS receiver 902 or a local receiver augmented with GNSS 800, 900, asshown in FIGS. 8 and 9. The receiver reference oscillator 1106 is commonwith a transmitter reference oscillator 700. See FIG. 11. The GNSS orlocal receiver generates a measure of time offset between the referenceoscillator 700 and GNSS and/or local position system when a positionsolution is generated, as discussed below for equations (4, 6, and8-12). The reference oscillator 700 or VCO 702 may be adjusted bycareful slewing until the time bias is zero or nearly zero.

In another embodiment, a transmitter 16 is coupled with a local receiverwith or without GNSS augmentation 800, 900. See FIGS. 8 and 9. Thetransmitter signal either downstream of the antenna 720 or upstream ofthe antenna 720 is self-monitored by receiving the signal at thereceiver antenna 806, or further downstream of the antenna 806, and thencomparing the phase and phase rate of the self-monitored signal to anexternal synchronization source, such as a GNSS or local positionsystem. The phase and phase rate of the self-monitored signal may bedriven to zero by adjusting the reference oscillator 700 or the VCO 702until the phase and phase rate of the self-monitored signal are drivento zero or nearly zero.

With synchronized transmitters 16, the relative timing information maybe used by the mobile receiver 22 and/or the reference station 18. Usinga wireless radio link, such as a 900 MHz radio link, 802.11 or other ISMband radio communications link for the modems 50, 52, differentialcorrections and other timing information are received from the referencestation 18 or other device by the mobile receiver 22. In alternativeembodiments, the radio 50 associated with the reference station 18 isinstead provided on a transmitter 16. The reference station 18 andtransmitter 16 are alternatively connected using a cable, such as acoaxial cable, or other device for transmitting clock information. Inyet another alternative embodiment, each of the transmitters 16,reference station 18 and/or mobile receiver 22 are synchronized to theGPS or other GNSS system. Synchronization is achieved via GNSS timing,an RF synchronization pulse, or other signal. Using a change in positionof the GPS satellites and/or the mobile receiver 22, integer cycleresolution may be resolved for the GPS signals to obtain relative timinginformation accurate to sub-nanosecond.

Code phase measurements are made simultaneously or nearly simultaneouslyat the reference station 18 and the mobile receiver 22. The code phasemeasurements made by the reference station 18 are broadcast to themobile receiver 22. The mobile receiver also measures the code phase andcomputes a differential code phase between the two measured phases. Thelocation of the mobile receiver 22 relative to the reference station 18is calculated from the differential phase measurements in combinationwith pre measured relative locations of each of the transmitters 16 tothe reference station 18.

FIG. 6 shows an asynchronous system of one embodiment of the system 10where the reference station 18 acts as a common timing reference for thesystem 10, allowing the transmitters 16 to be free running or haveunsynchronized oscillators. Alternatively, one or more of thetransmitters 16 acts as a common timing reference. The mobile receiver22 may be free of a radio or other wireless communication device toachieve accurate positioning. The system 10 provides relative timing fora plurality of the transmitters 16. Each of the transmitters 16 isassociated with a corresponding radio 60, 62, 64 and 66 or otherwireless communications device. The radios 60-66 are wirelesscommunications devices, such as transceivers, receivers, modems, orother communications devices. The radios 60-66 and 50 form a wireless orwire communication network, such as a network operating pursuant to the802.11 specification. Other communications protocols may be used. Inalternative embodiments, a wire communication device is used, such ascoaxial cables and associated modems. In other embodiments, one or moreof the transmitters 16 is free of the radio 60-66. To synchronize thesystem 10 with asynchronous transmitters 16, the reference station 18 isoperable to receive the ranging signals from one or more of thetransmitters 16. For example, the reference receiver 18 receives thespread spectrum ranging signals on a communications path, such as via anX-band signal. Where the reference station 18 is operable or positionedto only receive ranging signals from less than all of the transmitters16, a different reference station 18 may be provided at a differentknown location. The various reference stations 18 are synchronized witheach other, such as through wire or wireless communications.

The reference station 18 generates timing offset information for theranging signals. For example, the reference station 18 calculates acarrier or code phase offset of the ranging signal from one transmitter16A relative to a clock of the reference station 18. Timing offsetinformation is calculated for each of the received ranging signals ortransmitters 16. Using the phase measurements, the timing offsetinformation determines a relative phase of the corresponding transmitterto the clock of the reference station 18. Different or the same timingoffsets are calculated for the different transmitters 16.

Using the radio 50, the reference station 18 transmits the timing offsetinformation for one or more transmitters 16 back to the same or adifferent transmitter 16. In one embodiment, the timing offsetinformation for each transmitter 16 is communicated to the correspondingtransmitter. In another embodiment, timing offset information from aplurality of transmitters 16 is communicated to a single transmitter16A. The transmission from the reference station 18 to one or more ofthe transmitters 16 is performed over a different communications paththan used to transmit the ranging signals. For example, thecommunications path is provided on the wifi or radio network usingdifferent carrier frequencies, coding or other characteristic than thecommunications path used for transmitting and receiving ranging signals.The network of radios 50, 60-66 communicate at lower frequencies thanthe X-band or ISM-band.

One or more transmitters 16 receive timing offset information from thereference station 18. In one embodiment, the radios 60-66 receive thetiming offset information as wireless communication receivers from thewireless communications transmitter of the radio 50. The transmitter ortransmitters 16 are responsive to the received phase measurements. Thephase measurement data is collected or assembled into a data packagestructure.

The data is then communicated to the mobile receiver 22 from thetransmitter or transmitters 16. The transmitter 16 is operable totransmit both ranging signals and the timing offset information for theranging signals. Each transmitter 16 transmits a unique ranging signaland corresponding offset information or transmits offset information fora different transmitter 16. The timing offset information is transmittedin a same communications path as the ranging signals. For example, thetransmitter 16A transmits ranging signals to the mobile receiver 22along a communications path in the X-band or ISM-band of frequencies.The ranging signal is modulated by the timing offset information. Forexample, an exclusive-OR (XOR) two-bit sum of the code and data is used.The spread spectrum code used for the ranging signal is occasionallyflipped by the data, such as every one to four instances of the codebeing transmitted. Less frequent modulation may be used. Each flip ofthe code represents a change in data. The mobile receiver 22 determinesthe data value based on a known frequency of modulation. Othermodulation may be used. By receiving both ranging signals and timingoffset information in a same communications path or part of a samesignal, the mobile receiver 22 may be free of communications with thetransmitters 16 and/or reference station 18 other than the reception ofranging signals. “Free of communications with the transmitter” includescommunications for synchronization but may exclude communications forcommunicating a determined position of the mobile receiver 22 for use byoperators or other systems. The same carrier frequency band is used fortransmitting both ranging signals and timing offset information.

In one embodiment, the oscillators in the transmitter 16 and receivers18, 22 are unsynchronized or free running. A phase stability in accordwith the accuracy of the system 10 over the measurement period of thereceivers 18, 22, such as a period over 1 to 100 milliseconds, isprovided for allowing synchronization of asynchronous clocks through thecommunications described above. The timing offset information isoriginally calculated based on one ranging signal transmission but thentransmitted to the mobile receiver with other subsequent rangingsignals. Given the stability of asynchronous oscillators, the phasemeasurements are sufficiently accurate to allow resolution of anycarrier cycle phase ambiguity. While the clocks of the varioustransmitters 16A and receivers 18, 22 are unsynchronized orasynchronous, the transmission slot timing for the TDMA transmission issynchronized between the transmitters 16. Since the timing slots forTDMA are associated with a longer period than a clock cycle, a fewmicroseconds of tolerance for timing slot synchronization may beallowed.

In alternative or additional embodiments, the reference station 18measures the phase from a GNSS or satellite based ranging signal. Thetiming offset information is transmitted to a transmitter 16 of thelocal positioning system for modulation and transmission with rangingsignals to the mobile receiver 22. The mobile receiver 22 may thencalculate position based on differential phase measurements from boththe local positioning system and a GNSS system.

The mobile receiver 22 receives the ranging signals and timing offsetinformation from one or more transmitters 16. For each transmitter 16that communicates timing offset and ranging signals to the mobilereceiver 22, a single communications path is provided. The rangingsignals modulated by timing offset information are received free ofcommunication or reception of other information in a differentcommunications path with the same transmitter 16. For example, theranging signals and timing offset information are received in X-band orISM-band signals.

The mobile receiver 22 determines the position as a function of theranging signals and the timing offset information. The phasemeasurements from the reference station 18 provide the relative clocktiming of the various transmitters 16. A differential phase measurementis performed by the mobile receiver 22 using the timing offsetinformation from the reference station 18. A position of the mobilereceiver 22 is determined from the differential phase measurements.Using the high modulation rate and code phase measurements without thecarrier phase determination allows measurement of the position with highaccuracy, such as centimeter level resolution, without measurements ofthe carrier phase ambiguity. Using a code length set relative to aregion of operation, a more immediate distance of the ranging signalsand associated position information from a plurality of distances aredetermined. Initialization, such as using measurements based on relativemotion between different components of the system 10, is avoided whilestill attaining an unambiguous accurate position. Integer cycleresolution measurements of carrier phase may be avoided. In alternativeembodiments, carrier measurements and a corresponding integer cycleresolution process are performed.

FIG. 7 shows one embodiment of a transmitter 16. The transmitter 16 isoperable to modulate timing offset information received from a referencestation 18 into the same communications signal as ranging information,but may alternatively generate ranging signals free of additional timingoffset information. Each transmitter 16 of the system 10 of FIG. 1, 5 or6 have a same structure, but different structures may be provided. Eachtransmitter 16 generates ranging signals with the same or different codeand/or type of coding. The transmitter 16 includes a referenceoscillator 700, a voltage controlled oscillator 702, a clock generator704, a high rate digital code generator 706, another voltage controlledoscillator 708, a mixer 710, a filter 712, another mixer 714, anotherfilter 716, a timer and switch 718, an antenna 720, a radio 60, amicroprocessor 722 and a summer 724. Additional, different or fewercomponents may be provided, such as providing a transmitter 16 withoutTDMA transmission of codes using the timer and switch 718 and/or withoutthe radio 60, microprocessor 722 and summers 724 for receiving phasemeasurements from the reference station 18. As another example, anoscillator, GPS receiver, microprocessor and digital-to-analog converterare provided for synchronizing the reference oscillator 700 with a GPSsystem.

The reference oscillator 700 is an oven control crystal oscillator, suchas a 10 MHz crystal oscillator. Other crystal or stable oscillators witha very low timing jitter over 1 to 100 milliseconds may be used, such asa Rubidium (Rb) oscillator. Low timing jitter over 1 to 100 millisecondsis desired, but longer term instability may be allowed. Other relativetime periods of short and long term stability may be provided, such as aperiod based on being larger than a receiver's phase tracking controlbandwidth and/or phase measurement period. In one embodiment, theoscillator 700 is free running relative to any external source. Thereference oscillator 700 is free of synchronization to an externalsource. In another embodiment, the oscillator may be synchronized to anexternal source. The ranging signal and other operation of thetransmitter 16 are responsive to the reference oscillator 700. Thereference oscillator 700 allows generation of a carrier frequency withsufficient bandwidth to support a high rate spread spectrum code, suchas a code having a 30 MHz or higher modulation rate.

The reference oscillator 700 controls two additional oscillators 702 and708. The oscillator 702 is a voltage controlled oscillator operable togenerate an intermediate frequency signal, such as a 1400 MHz signal.Other intermediate frequencies may be used. The oscillator 708 is also avoltage controlled oscillator. In one embodiment, the oscillator 708 isa phase-locked dielectric resonator oscillator (PLDRO). The oscillator708 provides low timing jitter over 1 millisecond to 100 millisecondstime period. Using phase comparisons to the reference frequency from thereference oscillator 700, the frequency output by the oscillator 305 isadjusted to a desired frequency, such as a frequency in the X- orISM-bands. The oscillator 708 is phase locked to the referenceoscillator 700 using a Phase Lock Loop (PLL) circuit, such as isavailable with a programmable chip or discrete components. In oneembodiment, the reference oscillator 700 and/or VCO's 702 and 708 areassociated with frequencies allowing conversion to any ISM or X-bandfrequencies.

The clock generator 704 and high rate digital code generator 706 arecomponents of a receiver, in one embodiment, used to generate the samecode used for correlation measurements in receivers. Alternatively,different components are provided. In one embodiment, the clockgenerator 704 is a programmable phase locked clock generator producing30 MHz, 80 MHz, 200 MHz or other value signal for driving the codegenerator 706. The code generator 706 is a transmitter of the code forthe ranging signal. The code generator 706 is a field programmable gatearray, but other devices for digital logic processing, such as ASICS,processors, or discrete logic chips, combinations thereof or other nowknown or later developed devices for generating a Gold, MLFSR, Kasami,or other pseudo random or other code may be used. In one embodiment, afield programmable gate array is programmed to provide a constantmodulation rate. The code generator 706 generates the DSSS code. TheDSSS code is a pseudo random noise sequence, such as of MLFSR type code,or other code. The code generator 706 outputs a code at desiredfrequency, such as 30 MHz or other modulation rate. The modulation rateis a multiple of the frequency of the crystal oscillator 700. Adigital-to-analog converter, such as a 2 bit digital-to-analogconverter, for example, a pair of matched resistors, converts the outputcode to an analog code for transmission.

The mixer 710 is an analog or digital multiplier, high RF isolationDouble Balanced Mixer (DBM), balanced mixer or other now known or laterdeveloped mixer. The mixer 710 mixes the high rate digital code outputby the generator 706 with the first local oscillator output by theoscillator 702.

The filter 712 is a high band ceramic filter. The filter 710 removesspurious mixing products. In alternative embodiments, the filter 307 isa microstrip filter.

The intermediate frequency signal is further up converted by the mixer714. The mixer 714 is a double balanced mixer, but a microstrip or othermixers may be used. The signal output by the oscillator 708 is mixedwith the intermediate frequency to generate the final stage carriersignal. The two signals are phased locked to the reference oscillator700. The mixing results in the desired ranging signal.

After up-conversion by the mixer 714, the filter 716 filters the signal.The filter 716 is a local oscillator and image rejection filter, such asa microstrip or a waveguide filter. The resulting signal is broadcastfrom the X-band or ISM-band transmission antenna 720.

If the transmitter 16 is used in a time division multiple access manner,the timer and switch 718 controls the timing of the transmission of theranging signal from the antenna 720. The timer and switch 318 is a radiofrequency switch, transistor, PN diode, GAASFET, gate connected switchor other switch for turning off and on the output of the ranging signalin desired time slots. In one embodiment, the switch 718 is positionedbetween the filter 712 and the mixer 714 or elsewhere within thetransmitter 16. In one embodiment, the time slot for transmission for agiven transmitter 16 is determined by a timer, such as a counter,synchronized with some external synchronization signal 717, such as GPS,an RF pulse, or other signal. In one embodiment, assignment of atimeslot may be programmed through a microprocessor 722 within thetransmitter 16 or received from an external source. For example, thetransmitter 16 includes one or more receivers for receiving rangingsignals from other transmitters 16. An available time slot where thelack of transmission occurs over a given time period is then selectedfor use by a given transmitter 16. As another example, a time slotassignment is communicated using a wireless or wired network. The timerand switch 718 are controlled to operate in accord with the appropriatetime slot.

For communicating timing off-set information or other data, themicroprocessor 722 is a digital signal processor, field programmablegate array, application specific integrated circuit, analog circuit,digital circuit or other now known or later developed processor forconverting received timing offset information into data. The processor722 generates the desired packet or data value at a given time andoperates to control flipping or alteration of the code beingtransmitted. The summer 724 acts to flip the code or modulate the codeoutput by the generator 706. In one embodiment, the adder 724 is an XORgate within the field programmable gate array of the code generator 706;but alternatively, the adder 724 may be a separate analog or digitalsumming device for selectively inverting the generated code.

Other transmitted data includes coarse-grade timing information thatenables a mobile receiver to distinguish a time basis in coarsergranularity than the code repeat period. A unique data pattern thatrepeats over some longer time span, which could be one second, severalseconds, minutes, or even years, can be used to enable a mobile receiverto align its phase measurements with phase measurements from a referencereceiver taken simultaneously but delayed by several tens ofmilliseconds due to transmission delay over a wireless communication.

In the system 10 shown in FIG. 6, each of the transmitters 16 includesan oscillator 700 shown in FIG. 7. The oscillators 700 of the varioustransmitters 16 are free of synchronization with each other. The clockshave no phase synchronization, so are free running relative to eachother or another external source. Alternatively, externalsynchronization is provided.

To determine the location of the mobile receiver 22 relative to a frameof reference other than the local positioning system, the location ofeach of the transmitters 16 is determined. In one embodiment, thelocation of each of the transmitters 16 is surveyed manually or usingGNSS measurements. Laser-based, radio frequency or other measurementtechniques may be used for initially establishing locations of thevarious transmitters 16 and/or reference station 18. Alternatively,transmitted ranging signals received at two or more other knownlocations from a given transmit antenna 720 are used to determine aposition along one or more dimensions of a phase center of the giventransmit antenna 720.

In another embodiment, the electromagnetic phase center of a transmitantenna 720 is measured with one or more sensors relative to a desiredcoordinate system or frame of reference. Knowing the electrical phasecenter allows for more accurate position determination. In oneembodiment, a phase center is measured relative to a GNSS coordinateframe. FIG. 17 shows a system 170 for determining a position of atransmit antenna 172 using two receive GPS antennas 174. The accuracy ofthe position measurement is the same or better than a real-timekinematic, differential GPS solution (e.g. centimeter level). In oneembodiment, the transmit antenna is located between the two receiveantennas, such that the transmit antenna phase center is substantiallyin the middle of the phase centers of the receive antennas. In thissituation, the transmit antenna position can be determined by averagingposition measurements from the 2 GPS antennas 174. In this embodiment,the spatial relationship of the transmit antenna with respect to any onereceive antenna need not be known in advance. In another embodiment, thespatial relationship of the transmit antenna with respect to one or morereceive antennas is known. In this situation, the transmit antennaposition can be determined from the known spatial relationship and themeasured position of the one or more receive antennas. Any error inmeasurement of the phase center may not necessarily correspond to aone-to-one error in a position determination. Where differentialmeasurement is used, any error in the phase center measurement mayresult in a lesser error for a position determination of the mobilereceiver 22.

The system 170 for measuring a position of the transmitter locationincludes the receive sensors 174, a transmit antenna 172, a linkage 178,a stand 180, sensor electronics 182 and a computer 184. Additional,different or fewer components may be provided, such as providingadditional receive sensors 174.

The transmit antenna 172 is a microwave antenna, such as an antennaoperable to transmit X-band or ISM-band signals. The transmit antenna172 corresponds to the antenna 720 of FIG. 7 in one embodiment. Thetransmit antenna 172 has a phase center at 176. The transmit antenna maybe a helix, quad helix, patch, horn, microstrip, or other variety. Thechoice of the type of antenna may be based on beam pattern to cover aparticular volume of the region of operation. The receiver antennasdescribed later in this document also may be suitable as transmitantennas.

The receive sensors 174 are GPS antennas, GNSS antennas, localpositioning system antennas, infrared detectors, laser detectors, orother targets for receiving position information. For example, thereceiver sensors 174 are corner reflectors for reflecting laser signalsof a survey system. In the embodiment shown in FIG. 17, the receivesensors 174 are GPS antennas. While two GPS antennas are shown, three ormore GPS antennas may be provided in alternative embodiments. The sensorelectronics 182 connect with each of the sensors 174. For example, thesensor electronics 182 are a receiver operable to determine a positionor range with one or more GPS antennas. Real time kinematic processingis used to resolve any carrier phase ambiguity for centimeter levelresolution of position information. The sensor may be another localposition system receiver, and the antennas may be local position.

The linkage 178 is a metal, plastic, wood, fiberglass, combinationsthereof or other material for connecting the receive sensors 174 in aposition relative to each other and the transmit antenna 172. Thetransmit antenna 172 is connected with the linkage 178 at a positionwhere a line extending from the two receive sensors 174 extends throughthe phase center 176 of the transmit antenna 172. In one embodiment, thetransmit antenna 172 is connected at a center of the line extending fromthe phase centers of the receive sensors 174, but any location along theline may alternatively be used. In one embodiment, the transmit antenna172 and associated phase center 176 is adjustably connected to slidealong the line between the phase centers of the two receive sensors 174.A set or fixed connection may alternatively be used. In anotherembodiment, the transmit antenna 172 is rotatably or pivotably connectedto the linkage 178 to allow rotation of the transmit antenna 172 whilemaintaining the phase center 176 at or through the line between the tworeceive sensors 174. An optional sensor, such as inclinometer, opticalencoder, rate sensor, potentiometer or other sensor, may be used tomeasure the rotation of the transmit antenna 172 relative to the linkage178.

The computer 184 is a processor, FPGA, digital signal processor, analogcircuit, digital circuit, GNSS position processor or other device fordetermining a position of the transmit antenna 172. The position of thetransmit antenna 172 is determined with reference to a coordinate frameA. The locations of each of the transmit and receive antennas 172, 174are measured from the respective electromagnetic phase centers. In oneembodiment, the distance along the line from each of the receiveantennas 174 to the transmit antenna 172 is not known, but the ratio ofthe distances is known, such as half-way between the receive antennas.The position of the transmit antenna 172 is calculated from the positiondetermined for each of the receive sensors 174. The computer 184measures signals received from the receive sensors 174 and calculatespositions of both of the receive sensors 174. The computer 184calculates the position of the transmit antenna 172 as an average orweighted average of the two receive antenna position measurements. Usinga separate rotational sensor measurement, the directional orientation ofthe transmit antenna may also be determined. The relative attitude ororientation of the antennas need not be known to determine the locationof the transmitter 172, but may be used to provide an indication of theorientation of the transmit antenna 172.

The system 170 is positioned at a desired location, such as on theground, on a structure, on a building or on a tower. The position of thereceive sensors 174 is then calculated, such as by ranging signals froma plurality of satellites 12. The resulting location of the transmitter172 is relative to the coordinate frame of reference based on theposition of the transmitter 16 on the earth.

In an alternative embodiment, a plurality of GNSS antennas, such as 3 ormore, is used to measure a position and orientation of the linkage 178.The position and orientation of the transmit antenna 172 with respect tothe 3 or more GNSS antennas is known. By measuring the positions of the3 or more GNSS antennas in coordinate frame A and knowing the positionand orientation of the transmit antenna 172 with respect to 3 or moreGNSS antennas fixed to linkage 178, the position of transmit antenna 172is determined relative to frame of reference A using standard geometricprinciples. In yet another alternative embodiment, the position of thetransmit antenna in frame of reference A may be determined using anyother sensor for measuring the orientation and/or position offset withrespect to one or more GNSS antennas.

FIGS. 8, 9, 10, 11 and 18 show different embodiments of the receiverstation 18 and/or mobile receiver 22. The same type of receiver is usedfor both the reference station 18 and the mobile receiver 22 in oneembodiment, but different types of receivers may be used. Similarly,code generation components of the receiver 18, 22 may be used forgenerating the ranging signals in the transmitters 16. In oneembodiment, the reference station 18 is positioned adjacent to or ispart of a transmitter 16. Alternatively, the reference station 18 ispositioned away from any of the transmitters 16. In one embodiment, themobile receiver 22 includes one antenna for determining a position. Inother embodiments, two or more antennas are provided for determining therelative positions of two components or a position and orientation of amobile device. The same circuitry may be used for each of the differentantennas or separate receivers provided for each of the antennas.

FIGS. 8 and 9 show two alternative embodiments of a receiver 800, 900.In the embodiments shown, the receiver 800, 900 is an augmented receivercapable of receiving both GNSS and local positioning ranging signals.For example, the receiver 800 includes a GPS signal path 802 and a localposition system signal path 804. As another example, the receiver 900includes a GNSS receiver 902 and a local positioning receiver 904. Inalternative embodiments, the receiver 800, 900 includes only a localpositioning signal path 804 or receiver 904. The receiver 800, 900 isoperable to receive and track the code phase of ranging signals inX-band, ISM-band or other frequency bands with a modulation rate higherthan GPS signals. The tracking may be performed in environments withhigh temperature fluctuation or ranges. Signals from multipletransmitters 16 using the same or different codes are received using asame receiver or antenna 806. For example, time division multiplexingallows use of the same antenna 806 and signals path 804 or receiver 904.In one embodiment, analog decorrelation and/or down conversion isprovided. Given potential modulation rates of 200 or more Megahertz foran X-band ranging signal, analog decorrelation and/or down conversion isperformed on the ranging signals received using one analog path. One,two or more different coding schemes may be used, such as a prompt codeto detect that a signal exists and a tracking code scheme to providefeedback control or an error signal. In one embodiment, anearly-minus-late form of tracking scheme is used where alignment resultsin a zero error.

FIG. 18 shows one embodiment of the local positioning system signal path804 combined with the GPS signal path 802. The local positioning systemsignal path 804 uses analog decorrelation and down conversion where adown converter is separated from or spaced remotely from the digitalcircuitry of the receiver. The local positioning system signal paths 804without the separation, and/or with digital down conversion are providedin alternative embodiments. The signal path includes a local positionsignal antenna 806, and a GNSS, such as GPS, antenna 808. The signalpath 804 includes a microwave radio frequency front end 803 and ananalog and digital back end 805. In alternative embodiments, the frontend 803 is connected directly with, positioned within a same box, formedon a same circuit board, or is part of a same unit as the back end 805.A single signal path 804 is used for receiving ranging signals from eachof the transmitters 16, but different signal paths may be used foralternative processing schemes.

In one embodiment a first path is used for measuring a detect signal andsecond path is used for measuring a track signal. In such an embodiment,the detect and track measurements are made simultaneously. TheDetect/Track switch 1018 is eliminated and instead, the detect and tracksignals from the code generator 1014 each connect with separate channelswitches 1002, and each of the separate channel switches 1002 connectswith separate mixers 818. In another embodiment, different signal pathsmay be used for receiving from different groups of transmitters 16, suchas with different groups of transmitters 16 using different coding orcarrier frequencies. In one embodiment, the local positioning systemsignal path 804 is implemented with a modified L2 path of a GPSreceiver.

The front end 803 applies automatic gain control, down converts thesignal to a first intermediate frequency, mixes the signal with aninternally generated code to decorrelate the ranging signal code,further down converts to a second intermediate frequency and convertsthe analog signal to a digital format. The front end 803, 828 includestwo general signal paths, one for GPS or GNSS augmentation (832-834) andanother for receiving local positioning ranging signals (810-826). Thepath for receiving local positioning signals includes an LNA 810, afilter 812, a mixer 814, an oscillator 816, another filter 817, anothermixer 818, yet another mixer 820, an oscillator 826, yet another filter822 and an amplifier 824. Additional, different or fewer components maybe provided, such as additional or fewer filters, mixers, multiplexersand separate paths. One example embodiment of the components is used for9,750 MHz ranging signals.

The LNA 810 amplifies and outputs the signals to the filter 812. The LNA810 may contain an automatic gain control to adjust the average powerlevel of the incoming signal. The filter 812 is a band pass filter witha center frequency response at the carrier wave frequency and abandwidth about twice the expected modulation rate, such as plus andminus 200 MHz. The filter 812 may be a microstrip or a waveguide filteror other filter. The band pass filtered ranging signals are provided tothe mixer 814. The mixer 814 is a double balanced mixer, but amicrostrip or other mixers may be used. The mixer 814 is responsive tothe oscillator 816.

The oscillator 816 is a dielectric resonator oscillator phase locked toa 10 MHz reference oscillator 1106. The oscillator 816 provides lowtiming jitter over 1 millisecond to 100 milliseconds time period. Usingphase comparisons to the reference frequency from the referenceoscillator 1106, the frequency output by the oscillator 816 is adjustedto a desired frequency, such as a frequency in the X- or ISM-bands. Theoscillator 816 is phase locked to the reference oscillator 1106 using aprogrammable chip. In one embodiment, the reference oscillator 816and/or VCO's 826 and 861 are associated with frequencies allowing downconversion from any ISM or X-band frequencies.

The mixer 814 is operable to down convert the receive signals to anintermediate frequency. The down converted signals are filtered by thefilter 817. The filter 817 is a band pass filter centered on anintermediate frequency, such as 1,466 MHz with a bandwidth similar tothe bandwidth of the filter 812 (e.g. plus and minus 200 MHz.). Themixer 814 is a double balanced mixer for performing analog decorrelationof the ranging signals, similar to mixer 814. The oscillator 826 is avoltage controlled oscillator responsive to the reference frequency,such as the 10 MHz reference frequency oscillator 1106.

In one embodiment, the oscillator 826 outputs a 1,291 MHz signal to themixer 820. The mixer 820 is a double balanced or balanced mixerresponsive to a dithering or replica code corresponding to an expectedranging signal coding. The output code is mixed with the ranging signalby the mixer 818. When a replica code provided on the connector 844 isaligned within one chip of the code of the incoming ranging signal, anarrow band of signal of power proportional to the degree of alignmentof the codes is output from the mixer 818.

The decorrelated signal is then filtered by the filter 822, such as aband pass filter having a center frequency of 175 MHz with a 10 MHzbandwidth. Filter 822 may be a SAW, microstrip or other filtertechnology. The amplifier 824 amplifies the demodulated down convertedranging signal for transmission over a cable, such as coax cable. Inalternative embodiments, the amplifier 824 is bypassed or used foramplifying the signals for transmission to other components on a samecircuit board. Other frequencies, type of components, arrangements ofcomponents and devices may be used.

Augmentation ranging signals, such as from the GPS are received by theGPS front end 828. The GPS front end 828 includes one or more band passfilters 832 and an LNA 834. Additional, different or fewer componentsmay be provided. Three connectors of the front end 803, 828 are providedat 838, 842 and 844. The connector at 844 is operable to receive codefrom the back end 805. A diplexer 840 allows the connector 842 toinclude both a DC power signal from the back end 805 as well as thedecorrelated ranging signals from the front end 803 for transmission tothe back end 805. The diplexer 836 separates the GPS ranging signals aswell as a 10 MHz or other frequency reference signal to be output orinput on the same connector 838. Other distributions or separations ofthe local positioning ranging signals, augmentation ranging signals,power, reference frequency, and coding may be used.

The back end 805, 892 includes connectors 846, 848, 850, diplexers 856and 854, an amplifier 858, a mixer 860, an oscillator 861, a filter 862,an analog-to-digital converter 864, a processor 866, a frequencymultiplier 868 and a processor 870. Additional, different or fewercomponents may be provided, such as separating the local positioningsignal path into in phase and quadrature paths.

In the back end 805, 892, any augmentation ranging signals, such as GPSsignals are provided on the connector 846. The diplexer 856 separatesthe 10 MHz or other reference frequency signal output to the front end803 from the augmentation ranging signals received.

The local positioning ranging signals are input on the connector 848.The diplexer 854 splits the local positioning ranging signals from a DCor other power signal output to the front end 803. The amplifier 858amplifies the ranging signals to counteract any attenuation between thefront end 803 and the back end 805. The amplified signals are furthermixed by the mixer 860, such as an analog balanced mixer. In response tothe oscillator 861, such as a voltage controlled oscillator outputting a160 MHz signal, the mixer 860 further down converts the ranging signals.The filter 862, such as a band pass filter at 15 MHz with a 2 MHzbandwidth, filters the down converted signals. The analog-to-digitalconverter 864 provides digital information to the processor 866. Theanalog-to-digital converter 864 may be positioned elsewhere within thesignal path, such as prior to the mixer 860. The processor 866 isoperable to generate a pseudo-random noise code for decorrelation by themixer 818. The processor 866 is also operable to correlate the rangingsignals with the code and accumulate information to determine a range.The processor 870 is an ASIC, control processor, general processor,FPGA, or other processing device or circuit. The processor 870 controlsfunctions of the processor 866 and determines position based on rangemeasurement from the processor 866. The frequency multiplier 868multiplies a reference frequency, such as a 10 MHz reference frequencyfor use by the processor 866. In one embodiment, the multiplier outputsan 80 MHz signal.

The local positioning signal path 804 includes both analog decorrelationas well as remote down conversion. Either of these features may be usedindependently of each other. FIGS. 8, 9 and 10 show aspects of theanalog decorrelation incorporated within the path 804 described in FIG.18. Particular components of the local positioning path 804 are includedin FIGS. 8, 9 and 10 for discussion purposes. Additional components,such as the components described with respect to FIG. 18, mayadditionally be included.

In FIG. 8, the mixer 818 is shown as part of the microwave radiofrequency front end 803 to indicate analog decorrelation. Theanalog-to-digital converter 864 is shown after the front end 803 to showconversion of the ranging signals information to a digital form for usein or by the back end 805. The analog decorrelation is performed for thedirect sequence, spread spectrum ranging signals broadcast fromdifferent transmitters in different time slots. By using analogdecorrelation, more reasonable analog-to-digital sampling may beallowed. Broad bandwidth filtering may more readily be provided withanalog components. Digital switching at the X-band or other carrier orintermediate frequencies may be avoided. The analog mixer 818 connectswith the antenna 806 and is operable to mix signals received by theantenna 806 with each of a plurality of replica spread spectrum codes.

Different replica spread spectrum codes are provided to the analog mixerfor decorrelation of the TDMA ranging signals. For example, the TDMAsequences shown in FIG. 3 or 4 are used. Two successive codes from asame transmitter are decorrelated by the same analog balance mixer toproduce the detection and tracking codes in series. As shown in FIG. 10,a channel switch 1002 switches between different codes for differenttransmitters 16. By providing different codes to the mixer 818 atdifferent times, time division multiplexing scheme is implemented fortracking the codes from different transmitters 16. The channel switch1002 includes a counter and multiplexer to switch the codes after adesired amount of time or for each time slot.

Using the TDMA sequence as shown in FIG. 3 or 4, two different uniquecodes are received within one or two time slots. One code indicates atime period for accumulating a prompt detection measurement and anotherearly-minus-late code is for a tracking measurement. The channel switch1002 switches between the plurality of replica spread spectrum codeswithin the repeat interval.

After conversion to digital signals, the decorrelated ranginginformation is provided to the processor 866. In one embodiment, theprocessor 866 is a field programmable gate array, but a generalprocessor, digital signal processor, ASIC, analog circuit, digitalcircuit and/or combinations thereof may be used. The processor 866 isoperable in a plurality of different channels 1004. A digital channel1004 is provided for each of the time slots and correspondingtransmitted codes. A same digital channel 1004 is operable to receivedifferent codes associated with the same transmitter 16. In alternativeembodiments, one or more digital channels 1004 correspond to a pluralityof transmitters 16 and are reprogrammed for operation with the differentcodes. Digital signals from the analog-to-digital converter 864 areprovided to the digital channel 1004 appropriate for the code output bythe channel switch 1002. During its allotted time slot, the intermediatefrequency signals are received from the analog-to-digital converter bythe particular digital channel 1004.

The intermediate frequency signals are demodulated to base band by anumerically controlled oscillator 1006 using two mixers 1008, one for aquadrature signal and another for in-phase signal. Numericallycontrolled oscillator 1006 is implemented as a counter and is ongoingfor each of the digital channels 1004 whether selected or not selected.A separate numerically controlled oscillator 1006 is provided for eachdigital channel 1004. The ramp phase of the code generated is the sameas the receive signal. The counter is incremented to match the codephase of the received ranging signal.

The resulting base band signal is detected by two sets of accumulators1010, 1012. One set of accumulators integrates the base band samplesover the time period when a detection code is generated and mixed withthe incoming signal. Another set of accumulators 1012 integrates baseband signals over a time period when a tracking replica code isgenerated and mixed with the incoming signal. In alternativeembodiments, a single accumulator, one accumulator for each in-phase orquadrature portion of the receiver or other numbers of accumulators maybe used. The tracking replica code may be generated as the binarydifference between two replica codes that are one-half chip earlier andone-half chip later than the prompt code. The prompt code is generatedat a modulation rate of 30 MHz, or 200 MHz or higher by the clockmanagement circuit 1022.

The accumulation of samples is controlled by the code generator 1014.The code generator 1014 generates replica code appropriate for a givenchannel from a linear feedback shift register (LFSR), such as a maximallength LFSR, a Gold, Kasami, or any other code generator, or the code isread directly from a memory. The code is generated in response to anumerically controlled oscillator 1016. A switch 1018 switches betweenthe prompt and tracking codes for providing coding information to theanalog mixer 818. Alternatively, the code generator 1014 generates theappropriate codes at the appropriate time without the use of the switch1018. The tracking code is generated at the same rate as the promptcode, but may be plus or minus 90 degrees out of phase with the promptcode. The clock for the tracking code sequence is also generated by theclock management circuit 1022. By taking the difference between codesshifted by plus and minus half a chip, which is plus and minus 90degrees of the high rate clock, an early-minus-late tracking code isgenerated. The early-minus-late tracking code provides an error signalfor tracking algorithms in the processor 880.

The accumulated samples and the counts of the oscillators of the carrierand code are output through a microprocessor interface 1020 to amicroprocessor 880. In an embodiment shown in FIG. 8, the processor 880receives signals from both the LPS signal path 804 and a GNSS signalpath 802. In the alternative embodiment shown in FIG. 9, the processor880 is distributed as a GPS or GNSS navigation processor in a GNSSreceiver 902 and a different processor for the local positioning system.The GNSS receiver 902 is a dual frequency GPS real time kinematicreceiver, but other GNSS system receivers may be used. The processor 880provided as part of the local positioning path of receiver 904implements the signal phase tracking pursuant to the signal phasetracking program. The phase information is provided to the processor 880implemented as part of the GNSS receiver for determining position. Anauxiliary communications channel 930 from the processor 880 of the GNSSreceiver 902 receives information from the processor 880 of the localpositioning receiver 904, such as phase measurement information and alsoprovides control instructions to the local positioning receiver 904. Theauxiliary communications 930 is an RS232 or 422 serial port, a universeserial bus (USB), firewire, Ethernet, parallel data port, or any othersuch digital data channel. The processor 880 controls sub-millisecondinterrupts to manage phase tracking. Alternatively, two distinct phasetracking units have digital signal processors application specificintegrated circuits or other processors to manage signal phase trackingwhile a primary processor collects phase measurements from each andcomputes the position solutions. Alternatively, the processor 880 islocated in one of the two receivers 902, 904 and information iscommunicated from one receiver to the other.

The processor 880 reads the accumulated base band samples for thetracking replica codes. A control signal feedback to the carrier andcode numerically controlled oscillators 1006 and 1016 maintains trackingof the incoming signals. The phase of the code and carrier numericallycontrolled oscillators 1006 and 1016 may be sampled at regular intervalsand read by the processor 880. The phases correspond to a measurement ofthe time of flight of the signal from each transmitter 16 to thereceiver 800, 900. The processor 880 computes a position based on theranging signal information received from a plurality of transmitters.The position is determined as a function of four or more ranges andassociated output information from each of the respective digitalchannels 1004. The processor initiates tracking as a function of theprompt code and maintains tracking as a function of the tracking code.The carrier signal is tracked with a phase-locked loop to maintainsignal tracking. The instantaneous value of the code and carrier NCOsprovide the range measurements.

FIGS. 8 and 9 show receivers 800, 900 which augment positiondeterminations from the local positioning system with ranginginformation from a GNSS. Two different methods for measuring rangingsignals are provided. One from GNSS and another from a territoriallybased augmentation or local system. GNSS are designed for operation overthousands of kilometers. The local positioning system is designed asdiscussed above for use in smaller regions of operation, such as a fewmeters to tens of kilometers. To gain the combined benefit of both GNSSand the local positioning system, the receiver 800, 900 is operable tomeasure ranges using the two different methodologies. The information isthen combined to form a position solution.

The receivers 800, 900 are connected with both the microwave antenna 806and the GNSS antenna 808. The GNSS antenna 808 may correspond to aplurality of antennas, such as for receiving L1, L2 and/or L5frequencies or receiving from different satellites. In one embodiment,the phase centers of the two different antennas 806, 808 are co-located,such as aligned along at least one dimension. In alternativeembodiments, the antennas 806, 808 are spaced apart from each other. Thereceivers 800, 900 are operable to determine a position as a function ofranging signals from both the GNSS antenna 808 and the microwave antenna806. As a further enhancement, the receivers 800, 900 are operable todetermine a differentially corrected position as a function of thesignals and received phase measurements from the reference station 18.Alternatively or additionally, the receivers 800, 900 output phasemeasurement information as a differential station 18 for use by anotherreceiver 22.

The GNSS signal path 802 or receiver 902 measures a range from rangingsignals received from the satellite 12. Ranges may be determined from aplurality of different satellites 12. Amplification and filtering isprovided by the GNSS radio frequency front end 828. An analog-to-digitalconverter 890 converts the signals to a digital format. A GNSS back end892 performs digital decorrelation. A code generator generates the GNSScode for mixing. A digital mixer mixes the code generated with thereceived ranging signals. Code phase information may be used fordetermining a code base position. A carrier phase is optionally measuredfor real time kinematic position determination with sub-meter accuracy.In one embodiment, each of the back ends 892 of the GNSS signal path 802or receiver 902 includes separate carrier and code mixers and associatedaccumulators. By measuring code and/or carrier phase information from atleast five or more satellites, centimeter level accuracy positiondetermination may be provided given relative movement and differentialmeasurements. Code measurement of a GPS signal may achieve severalmeters of accuracy. Real time kinematic measurement of GPS signalsachieves sub-meter or centimeter accuracy using carrier measurements.L1, L1 and L2, L5, combinations thereof or other techniques may be usedfor determining ranges and associated position information fromsatellites.

The local positioning receiver 904 and corresponding signal path 805measures one or more ranges from ranging signals from one or moreland-based transmitters. Using the signal structure described above withrespect to FIG. 2, a code phase range and position accuracy better thanone wavelength of a carrier of the GNSS signals, such as centimeteraccuracy, is provided. After analog-to-digital conversion, the back end805 generates phase measurements for determining a range and/orposition.

The two distinct ranging methods and associated receivers provide phasemeasurement information to the processor 880. The processor 880determines a position from the measurements from both the GNSS receiver902 and the local positioning system receiver 904. The positioninformation may be further refined using real time kinematic measurementof the GNSS signals. The signals are responsive to analog and digitaldecorrelation. The processor 880 uses the ranging measurements tocalculate a position solution for any combination of four or moreranging signals.

Augmentation using a local positioning system and a GNSS system may bemore accurate than either ranging system alone. In one embodiment, twodifferent positions are calculated using the two different methods. Anaverage position is then determined from the two methods. Alternatively,one of the methods, such as the local positioning system positiondetermination, identifies a position used as long as the other method,such as the GNSS position determination, identifies a position within athreshold amount. In an alternative embodiment, the positioningalgorithm is implemented as a single method that handles any of variouscombinations of satellites 12 and transmitters 16. Depending on a givenposition within a region of operation, the mobile receiver 22 may haveaccess to a different numbers of satellites 12 and land-basedtransmitters 16. By using the available information simultaneously, amore accurate position determination may result, such as through moreoptimal dilution of precision.

FIG. 12 is a graphical representation of the different processing useddepending on a number of available range measurements from satellites 12and from land-based transmitters 16. FIG. 13 is a flow chart indicatingan order of preference used for different solutions shown in FIG. 12 fordetermining position from ranging information. Additional, different orfewer acts may be provided in alternative embodiments. The criteria fornumbers of satellites and/or land transmitters in FIG. 13 are based ontwo assumptions: (1) the land transmitters and satellites aresynchronized, either directly or indirectly, and (2) any cycle ambiguityon satellites is performed with at least one redundant signal to assureintegrity of the result. If the land transmitters and satellites are notsynchronized, a minimum of two satellites and two land transmitters areneeded for each of the Augmented RTK 1320 and Augmented DGPS 1324solutions, due to observability needed for two time biases. If cycleambiguity on satellites is performed without a redundant signal forintegrity check, then one fewer satellite is needed for the RTK 1310 andAugmented RTK 1320 solutions.

In act 1302, the number of land-based transmitters is examined. If thenumber of ranging signals from land-based transmitters is greater thanor equal to 4, the position solution is determined using the localpositioning system in act 1304. Using a greater number of rangingmeasurements to determine position may provide a more optimum dilutionof precision. A more optimum dilution of precision results in a greaterposition accuracy. Using the full local positioning system solution, ahighly accurate solution may be provided regardless of satelliteavailability. Centimeter level accuracy is provided using the code phaseof the ranging signals discussed above with respect to FIG. 2. Since theaccuracy of each of the ranging signals from land-based transmitters isbetter than one wavelength of a GPS or GNSS carrier and unambiguous overthe region of operation, a position solution substantially equal to theaccuracy or better than the accuracy of a real time kinematic GPS may beperformed from phase measurements taken within a single time sample.Relative motion is not needed to resolve any ambiguity. The code phasenoise is substantially equal to the carrier phase noise of a satellitesignal, and the code phase does not have ambiguity over the region ofoperation. The code phase measurement for a single LPS transmitter is:φ_(j) ^(t) =|q _(j) −x|+(1−{dot over (φ)}_(j) ^(rt))τ^(t)+ν_(j)^(t)  Equation (1)where x is the desired, unknown position of the user, φ_(j) ^(t) is thecode phase measured from local transmitter j, characterized by codephase noise ν_(j) ^(t). {dot over (φ)}_(j) ^(rt) is the code phase rate,q_(j) is the position of local transmitter j, and τ^(t) is the timeoffset of a mobile receiver with respect to a clock, which may or maynot be synchronized to the GPS. All parameters are in a common unit ofmeasure.

One way to find a solution to a set of measurements in the form ofequation (1) is to linearize the measurements about an initial estimate,but other methods may be used. Linearizing (1) about an estimate of theposition {circumflex over (x)} gives:

$\begin{matrix}{{{\delta\phi}_{j}^{t} = {{{- {\overset{\_}{\mathbb{e}}}_{j}^{T}}\delta\; x} + {( {1 - {\overset{.}{\phi}}_{j}^{rt}} )\tau^{t}} + v_{j}^{t}}}{{where},}} & {{Equation}\mspace{14mu}(2)} \\{{\overset{\_}{\mathbb{e}}}_{j}^{T} \equiv \frac{\lbrack {q_{j} - {\hat{x}}_{i}} \rbrack^{T}}{{q_{j} - {\hat{x}}_{i}}}} & {{Equation}\mspace{14mu}(3)}\end{matrix}$If there are n_(t) LPS transmitters in track, the measurements may becombined in matrix form:

$\begin{matrix}{\begin{bmatrix}{\delta\phi}_{1}^{t} \\\vdots \\{\delta\phi}_{n_{t}}^{t}\end{bmatrix} = {{\begin{bmatrix}{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rt}} \\\vdots & \vdots \\{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{n_{t}}^{rt}}\end{bmatrix}\begin{bmatrix}{\delta\; x} \\\tau^{t}\end{bmatrix}} + \begin{bmatrix}v_{1}^{t} \\\vdots \\v_{n_{t}}^{t}\end{bmatrix}}} & {{Equation}\mspace{14mu}(4)}\end{matrix}$when n_(t)≧4, and the measurements are linearly independent (i.e.,adequate DOP), the equations may be solved to derive the position usinga linear least squares fit. If the code phase noise is a zero-meanGaussian with standard deviation of 3 cm, then the resulting positionsolution may have an accuracy of 3 cm for DOP values of 1. The system ofequations (4) may be solved using a single epoch of measurements whenn_(t)≧4. To solve the system of equations, an initial estimate of{circumflex over (x)} is entered, the linear least-squares method isapplied to compute δx, the new value of δx is entered for {circumflexover (x)}, and the process is repeated until the residual is negligible.

To improve the dilution of precision, range information from satellites12 may be included. The integer ambiguity of the carrier phase ofsignals from the satellites 12 is resolved using the local positioningsystem determined position. Since the location is known to within onewavelength of the highest GNSS carrier frequency, the integer ambiguityis resolved. The position estimate may then be refined as a function ofranging signals from the satellites 12 and the local positioning basedresolution of integer ambiguity of the carrier phase of the satelliteranging signals. Satellite carrier phase measurements are included insubsequent processing, providing a robust and improved dilution ofprecision using both satellite and local positioning system rangingsignals. If one or more local positioning ranging signals are lost, suchas due to movement of the mobile receiver 22, the previous resolution ofthe carrier cycle ambiguity may allow for more accurate and fasterposition determination using satellite ranging signals without having tofurther solve again the carrier cycle ambiguity.

In act 1306, the number of land-based transmitters 16 and associatedranging signals is compared to 0 and 4 level thresholds. If greater than0 but less than 4 land-based transmitters are available, the procedureproceeds to act 1318. However, if ranging signals from land-basedtransmitters are unavailable, the process proceeds to a satellite 12 orGNSS based solution in act 1308. In act 1308, the number of availablesatellites and associated ranging signals is compared to a threshold. Ifthe number is greater than 4, then a real time kinematic solution isperformed in act 1310.

In act 1310, conventional real time kinematic GPS algorithms areimplemented. Later developed algorithms may be used. Real time kinematicGPS algorithms provide centimeter accurate solutions after a period of afew minutes. Faster or slower processing may be provided. The real timekinematic solution provides positioning based on both code and carrierphase information. The carrier phase measurements from a single GPSsatellite may be expressed as:ψ_(ik) ^(s) =−e _(ik) ^(T) x _(k)+(1−{dot over (ψ)}_(ik) ^(rs))τ_(k)^(s) +N _(i) +w _(ik) ^(s)  Equation (5)where ψ_(ik) ^(s) is the differential carrier phase measured fromsatellite i, characterized by carrier phase noise w_(ik) ^(s). {dot over(ψ)}_(ik) ^(rs) is the carrier phase rate, and N_(i) is the carrierinteger cycle ambiguity. The index k is a sample epoch index in thecarrier phase measurement variables, since samples are taken overseveral epochs to solve the carrier integer cycle ambiguity. Forconsistency of notation in the following discussion, the satelliteobservations of equations (5, 6, 7 and 8) are written in partialdifferential form, even though they are already linear equations. Ifthere are n_(s) satellites in track, the measurements may be combined inmatrix form:

$\begin{matrix}{\begin{bmatrix}\psi_{1k}^{s} \\\vdots \\\psi_{n,k}^{s}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1k}^{T}} & {1 - {\overset{.}{\psi}}_{1k}^{rs}} \\\vdots & \vdots \\{- {\mathbb{e}}_{n_{s}k}^{T}} & {1 - {\overset{.}{\psi}}_{n_{s}k}^{rs}}\end{bmatrix}\begin{bmatrix}x_{k} \\\tau_{k}^{s}\end{bmatrix}} + \begin{bmatrix}N_{1}^{s} \\\vdots \\N_{n_{s}}^{s}\end{bmatrix} + \begin{bmatrix}w_{1k}^{s} \\\vdots \\w_{n_{s}k}^{s}\end{bmatrix}}} & {{Equation}\mspace{14mu}(6)}\end{matrix}$

If the cycle ambiguities are known, a set of four of these measurementsare solved for position. However, in the initial case, a receiver tracksfive or more satellites (n_(s)≧5) to solve the cycle ambiguity equationswith a minimum integrity check, and these five or more measurements aremade over several sample epochs (k) as satellites move. The severalepochs of measurements may be solved using an iterated informationsmoother or other solution. For typical carrier phase noise of twocentimeters, the resulting position solution may have accuracy of twocentimeters for DOP values of 1.

The above description features GPS L1 measurements. The receiver maytrack L2 and/or L5 carrier phase in addition to enhance the cycleambiguity process. One such receiver is described in U.S. Pat. Nos.6,570,534 B2 and 6,762,714 B2, the disclosures of which are incorporatedherein by reference.

When the number of available ranging signals and satellites 12 is equalto 4 as represented in act 1312, a differential GPS or GNSS solution isperformed in act 1314. Differential GPS may provide an accuracy of onlyseveral meters. Differential GPS relies on code phase measurements ofthe satellite based ranging signals. The differential code phasemeasurement from a single GPS satellite may be expressed as:φ_(i) ^(s) =−e _(i) ^(T) x+(1−{dot over (φ)}_(i) ^(rs))τ^(s)+ν_(i)^(s)  Equation (7)where φ_(i) ^(s) is the differential code phase measured from satellitei, characterized by code phase noise ν_(i) ^(s). e_(i) ^(T) is the lineof sight vector from user to satellite i, x is the user receiverposition, {dot over (φ)}_(i) ^(rs) is the code phase rate from satellitei, and τ^(s) is the time offset of user receiver with respect to GPStime. If there are n_(s) satellites in track, the measurements may becombined in matrix form:

$\begin{matrix}{\begin{bmatrix}\phi_{1}^{s} \\\vdots \\\phi_{n_{s}}^{s}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rs}} \\\vdots & \vdots \\{- {\mathbb{e}}_{n_{s}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{s}}^{rs}}\end{bmatrix}\begin{bmatrix}x \\\tau^{s}\end{bmatrix}} + \begin{bmatrix}v_{1}^{s} \\\vdots \\v_{n_{s}}^{s}\end{bmatrix}}} & {{Equation}\mspace{14mu}(8)}\end{matrix}$When n_(s)≧4, and the measurements are linearly independent (i.e.adequate DOP), the equations are solved to derive the position using alinear least squares fit. If the code phase noise is treated as azero-mean Gaussian with standard deviation of a few meters, which istypical, then the resulting position solution has an accuracy of a fewmeters for DOP values of 1. Code phase noise is often not zero-meanGaussian due to multipath, so a lesser accuracy may result.

If no ranging signals from land-based transmitters and fewer than 4ranging signals from satellites 12 are available, no three-dimensionalposition solution is provided in act 1316. In alternative embodiments, atwo- or three-dimensional position solution is attempted given otherknown information, such as use of known terrain model, use of an ultrastable oscillator, or placement within a particular region of operation.For example, 3 ranging signals may indicate a three-dimensional positionif the mobile receiver is known to be constrained to a certain verticalheight above the ground, and the altitude of the ground is known by someterrain model.

In act 1318, less than four land-based transmitters and correspondingranging signals are available, but a total number of satellites 12 andland-based transmitters 16 and corresponding ranging signals greaterthan 4 are available. As represented in FIG. 12, ranging signals from atleast two satellites and at least one land-based transmitter aremeasured. The total number of ranging signals is at least 5. Using bothsatellite and land-based transmitter ranging signals in act 1320 allowsfor an augmented real-time kinematic solution to form centimeteraccurate solutions with fewer than five satellites. When five or moresatellites are available and at least one land-based transmitter isavailable, the augmented real-time kinematic solution converges to acentimeter accurate solution faster than a conventional real timekinematic GNSS solution of an equivalent dilution of precision becausethe sub-GNSS wavelength accuracy of the at least one land-basedtransmitter signal constrains the solution in at least one dimension.

The carrier phases from GPS satellites may be combined with the codephases from land-based transmitters to form a position when either orboth of the number of satellites and land-based transmitters areinsufficient to solve for position and GPS carrier cycle ambiguities,i.e. (n_(s)<5 or n_(t)<4). For the situation in which the localpositioning system is synchronous with GPS, an additional condition isn_(s)+n_(t)≧5. If the local positioning system is asynchronous with GPS,an additional condition is n_(s)+n_(t)≧6 because there is an extra timevariable for which to solve. Since the satellite carrier phases arecollected over several sample epochs to resolve cycle ambiguities, thecode phase also includes multiple epochs for local positioning systemcode phases, hence the addition of sample index k to the local codephases.

The following matrix equation shows how to combine satellite carrierphases with local code phases for the asynchronous case:

$\begin{matrix}{\begin{bmatrix}{\delta\psi}_{1k}^{s} \\\vdots \\{\delta\psi}_{n_{s}}^{s} \\{\delta\psi}_{1k}^{t} \\\vdots \\{\delta\psi}_{n_{t}}^{t}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rs}} & 0 \\\vdots & \vdots & \vdots \\{- {\mathbb{e}}_{n_{s}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{s}}^{rs}} & 0 \\{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & 0 & {1 - {\overset{.}{\phi}}_{1}^{rt}} \\\vdots & \vdots & \vdots \\{- {\overset{\_}{\mathbb{e}}}_{n_{t}}^{T}} & 0 & {1 - {\overset{.}{\phi}}_{n_{t}}^{rt}}\end{bmatrix}\begin{bmatrix}{\delta\; x} \\\tau^{s} \\\tau^{t}\end{bmatrix}} + \begin{bmatrix}N_{1}^{s} \\\vdots \\N_{n_{s}}^{s} \\0 \\\vdots \\0\end{bmatrix} + \begin{bmatrix}w_{1k}^{s} \\\vdots \\w_{n_{s}k}^{s} \\v_{1}^{t} \\\vdots \\v_{n_{t}}^{t}\end{bmatrix}}} & {{Equation}\mspace{14mu}(9)}\end{matrix}$If the LPS is synchronized with GPS, τ^(t)=τ^(s), the above matrixequation becomes:

$\begin{matrix}{\begin{bmatrix}{\delta\psi}_{1k}^{s} \\\vdots \\{\delta\psi}_{n_{s}}^{s} \\{\delta\psi}_{1k}^{t} \\\vdots \\{\delta\psi}_{n_{t}}^{t}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rs}} \\\vdots & \vdots \\{- {\mathbb{e}}_{n_{s}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{s}}^{rs}} \\{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rt}} \\\vdots & \vdots \\{- {\overset{\_}{\mathbb{e}}}_{n_{t}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{t}}^{rt}}\end{bmatrix}\begin{bmatrix}{\delta\; x} \\\tau^{s}\end{bmatrix}} + \begin{bmatrix}N_{1}^{s} \\\vdots \\N_{n_{s}}^{s} \\0 \\\vdots \\0\end{bmatrix} + \begin{bmatrix}w_{1k}^{s} \\\vdots \\w_{n_{s}k}^{s} \\v_{1}^{t} \\\vdots \\v_{n_{t}}^{t}\end{bmatrix}}} & {{Equation}\mspace{14mu}(10)}\end{matrix}$As with the real time kinematic GPS solution, the several epochs ofmeasurements in the systems of equations (9) and (10) may be solvedusing an iterated information smoother or other solution. For typicalcarrier phase noise of 2 cm and worst case local code phase noise ofabout 3 cm, the resulting position solution may have accuracy of 2-3 cmfor DOP values of 1. Each local code phase measurement that is added tothe system of equations (9) or (10) narrows the search space of thesatellite carrier phase cycle ambiguity, thereby reducing theconvergence time for solving the cycle ambiguities. The abovedescription may be generalized to include GPS L2 carrier or L5 code andcarrier, Galileo or GLONASS phase measurements as well to enhance thecycle ambiguity resolution process.

Returning to act 1304, whenever n_(t)≧4 land-based transmitters aretracked, the position x may be solved without any information from thesatellites. In the context of equations (9) and/or (10), this positionsolution can be used to “back out” the cycle ambiguities for anysatellites in track by entering the x into the system of equations (9)or (10) and solving for N in a single sample epoch.

If the number of ranging signals from land-based transmitters 16 andsatellites 12 is equal to 4 where at least one and less than 4land-based transmitter ranging signals are available, act 1322 shows theuse of an augmented differential GPS solution in act 1324. For theaugmented differential GPS solution, fewer than 4 satellites areavailable. Because the accuracy of at least one ranging signal from aland-based transmitter is better than one wavelength of the GPS carrier,the accuracy of the augmented differential GPS solution may be moreaccurate than a conventional differential GPS solution of the samedilution of precision. As shown in FIG. 12, at least one and fewer thanfour satellite ranging signals are measured.

The code phases from GPS satellites may be combined with the code phasesfrom land-based transmitters to form a position when either or both ofthe number of satellites and LPS transmitters are insufficient to solvefor position, i.e. (n_(s)<4 or n_(t)<4). For the situation in which thelocal positioning system is synchronous with the GPS, an additionalcondition is n_(s)+n_(t)≧4. If the local positioning system isasynchronous with the GPS, an additional condition is n_(s)+n_(t)≧5. Thefollowing matrix equation shows how to combine satellite code phaseswith local code phases for the asynchronous case:

$\begin{matrix}{\begin{bmatrix}{\delta\phi}_{1}^{s} \\\vdots \\{\delta\phi}_{n_{s}}^{s} \\{\delta\phi}_{1}^{t} \\\vdots \\{\delta\phi}_{n_{t}}^{t}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rs}} & 0 \\\vdots & \vdots & \vdots \\{- {\mathbb{e}}_{n_{s}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{s}}^{rs}} & 0 \\{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & 0 & {1 - {\overset{.}{\phi}}_{1}^{rt}} \\\vdots & \vdots & \vdots \\{- {\overset{\_}{\mathbb{e}}}_{n_{t}}^{T}} & 0 & {1 - {\overset{.}{\phi}}_{n_{t}}^{rt}}\end{bmatrix}\begin{bmatrix}{\delta\; x} \\\tau^{s} \\\tau^{t}\end{bmatrix}} + \begin{bmatrix}N_{1}^{s} \\\vdots \\N_{n_{s}}^{s} \\0 \\\vdots \\0\end{bmatrix} + \begin{bmatrix}v_{1k}^{s} \\\vdots \\v_{n_{s}k}^{s} \\v_{1}^{t} \\\vdots \\v_{n_{t}}^{t}\end{bmatrix}}} & {{Equation}\mspace{14mu}(11)}\end{matrix}$If the LPS is synchronized with GPS, τ^(t)=τ^(s), the above matrixequation becomes:

$\begin{matrix}{\begin{bmatrix}{\delta\phi}_{1}^{s} \\\vdots \\{\delta\phi}_{n_{s}}^{s} \\{\delta\phi}_{1}^{t} \\\vdots \\{\delta\phi}_{n_{t}}^{t}\end{bmatrix} = {{\begin{bmatrix}{- {\mathbb{e}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rs}} \\\vdots & \vdots \\{- {\mathbb{e}}_{n_{s}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{s}}^{rs}} \\{- {\overset{\_}{\mathbb{e}}}_{1}^{T}} & {1 - {\overset{.}{\phi}}_{1}^{rt}} \\\vdots & \vdots \\{- {\overset{\_}{\mathbb{e}}}_{n_{t}}^{T}} & {1 - {\overset{.}{\phi}}_{n_{t}}^{rt}}\end{bmatrix}\begin{bmatrix}{\delta\; x} \\\tau^{s}\end{bmatrix}} + \begin{bmatrix}v_{1}^{s} \\\vdots \\v_{n_{s}}^{s} \\v_{1}^{t} \\\vdots \\v_{n_{t}}^{t}\end{bmatrix}}} & {{Equation}\mspace{14mu}(12)}\end{matrix}$The system of equations (12) may be solved by the same method used tosolve the system of equations (4).

Since the noise for any given local code phase measurement is muchsmaller than the noise for any given satellite code phase measurement,as is evident in the measurement noise vector [ν₁ ^(s) . . . ν_(n) _(s)^(s) ν₁ ^(t) . . . ν_(n) _(t) ^(t)]^(T), the position solution from thecombined system is more accurate than a solution derived solely fromsatellite code phase measurements for equivalent DOP.

When the total number of ranging signals from both land-basedtransmitter 16 and satellites 12 is less 4, then no three-dimensionalsolution is provided in act 1316. Other algorithms for determiningposition based on lesser information may be used. In yet otheralternative embodiments, different algorithms and associated equationsare used for combining information from both satellite and land-basedranging signals.

The receiver 800 for implementing position measurements may be used invarious environments. FIG. 11 shows one embodiment of the receiver 800.FIG. 18 shows a specific implementation of the distributed radiofrequency receiver of FIG. 11. The receiver is distributed amongst twoor more different remote locations. For example, the front end 803 isprovided at one location and the back end 805 is provided at anotherlocation. The antennas 806 and 808 may be positioned in a location arelatively long distance away from the receivers 18, 22. For example,the antennas 806 and 808 are positioned on the top of a cab of mobileequipment or on the top, of a tower, and their associated receiver islocated within the cab or on the ground for maintenance access. Theseparation between the antennas 806, 808 and receiver 18, 22 may be tensof meters in distance. A long coaxial cable connects the antennas 806,808 to the receivers 18, 22. However, signal attenuation may besignificant. While a low noise amplifier may boost the signal beforebeing sent on a cable to the receiver 18, 22, attenuation of higherfrequencies may still result. The signal loss in a coaxial cable islogarithmically related to the frequency, so higher frequency signalshave worse attenuation. X-band or ISM-band ranging signals for the localpositioning system may result in greater attenuation than GNSS signals.In one embodiment, the LNA gain is increased to overcome attenuation. Inanother embodiment represented in FIGS. 11 and 18, the local positioningranging signals are down converted near the antenna, such as on thefront end 803, to a lower intermediate frequency signal. Theintermediate frequency signal has a better attenuation when transmittedover a cable 1103 to the back end 805, providing a stronger signal tothe receiver 18, 22. Other implementations are possible. While thereceiver 800 includes both GNSS and local positioning signal paths 804,802, only one of the two paths may be provided in alternativeembodiments.

A portion of the receiver 18, 22 is spaced from the down converter ormixer 814. For example, the front end 803 is spaced at least a meterfrom the back end 805. The front end 803 is close to the antenna 806,such as within a meter. The distance between the front end 803 and themicrowave antenna 806 is less than the distance between the front end803 and the back end 805. A reference frequency output by the oscillator1106 as well as a power signal, such as from a DC power supply, areprovided on the same or different cables 1103 to the front end 803 fromthe back end 805. In one embodiment, a separate cable is provided foreach type of signal. In an alternative embodiment, one or more cablesshare two or more different types of signals. The different types ofsignals includes the reference oscillation signal, such as 10 MHzsignal, the down converted local positioning ranging signals, such as atabout 1.5 Gigahertz, the power signal, and GNSS signals.

In the embodiments of FIGS. 11 and 18, a down converter is provided as amixer 814 between the antenna 806 and any decorrelator 1108 or 818. Inthe analog decorrelation embodiment discussed above, the down converteris provided between the antenna 806 and the analog mixer 818. The downconverter is formed by the mixer 814 and the oscillator 816. Theoscillator 816 is a synthesizer, such as a voltage control oscillator ora phase lock dielectric resonator oscillator. The mixer 814 downconverts the received ranging signal from the antenna 806 in response tothe reference oscillation signal from the synthesizer 816. Thesynthesizer 816 is phase locked to the reference frequency from thereference oscillator 1106 of the back end 805 or primary receiver. Theranging signals from the antenna 806 are down converted from the X-band,ISM-band, or other high frequency band to an intermediate frequency. Anyintermediate frequency band may be used, such as 1.5 gigahertz. In theembodiment of FIG. 18, analog decorrelation is performed in the frontend 803 and the resulting intermediate frequency output on the cable1103 is an even lower value, such as 175 megahertz. Separate downconversion may be performed for GNSS signals from the antenna 808.Alternatively or additionally, the GNSS or local signals are downconverted in the back end 805.

The signal distribution 1102 distributes the various types of signals tothe corresponding components. The signal distributors 1102 and 1104 aremultiplexers, diplexers, triplexers or other devices for distributingsignal information as a function of frequency, time, coding,combinations thereof or other formats. A reference frequency and powersignal received from the back end 805 are distributed by the signaldistribution 1102 to the synthesizer 816. The down converted rangingsignals from the land-based transmitter and GNSS ranging signals aredistributed from the front end 803 to the back end 805. Similarly, thesignal distributor 1104 performs distribution of signals in the back end805.

The cable 1103 connects between the down converter or the front end 803and the rest of the receiver in the back end 805. The cable 1103 is acoaxial cable, wire, ribbon, or other conductor operable to transmitdown converted signals from the front end 803 to the back end 805. Thecable 1103 is also operable to transmit a reference signal from theoscillator 1106 and the back end 805 to the remotely located front end803. A power signal is also provided over the same cable 1103. GNSSsignals are provided over the same cable 1103 or a different cable.Using difference in frequencies of the signals, splitters, diplexers,biplexers, multiplexers or other devices may be used to split thedesired signals in the signal distributors 1102 and 1104. For example, asignal splitter is operable to isolate the reference signal from a downconverted signal. In alternative embodiments, a separate cable isprovided for each of the different types of signal. In yet anotheralternative embodiment shown in FIG. 18, three separate cables areprovided for the five different types of signals. One cable provides agenerated code for demodulation. Another cable includes both power andthe down converted intermediate frequency signals. The third cableincludes both GNSS signals and the reference frequency signal. Othercombinations of types of signals on one or more cables may be used. Forexample, only two cables are used where decorrelation is performed inthe back end 805 as represented in FIG. 11. FIGS. 11 and 18 show twodifferent embodiments implementing different functions in the front end803 and the back end 805. Further digital and analog processes may beperformed in the back end 805, such as down conversion in the downconverters 1110 and 1112.

In one embodiment, a GPS chip set is used for the GNSS receiver portion802. An FPGA is used to implement the digital down conversion 1110 andassociated phase tracking. Addition analog down conversion may beimplemented in device 1108. Any of various combinations of analog anddigital processes may be implemented in the back end 805. Differentcombinations of analog and/or digital processes may also be implementedin the front end 803. By separating the processes between the front endand the back end, a long cable connection may be used even where highfrequency ranging signals are received by the antenna 806.

For augmented positioning in a GNSS system, the different antennas arelocated at known positions relative to each other. For example, thelocal antenna 806 is positioned at a distance greater than a meter fromGNSS antenna 808, but closer positions may be used. In alternativeembodiments, the phase centers of both the local antenna 806 and theGNSS antenna 808 are within at most one wavelength of the GNSS signal toeach other. For example, the phase centers are within ten centimeters ofeach other. In the antenna structures shown in FIGS. 14-16, the phasecenters of the two different antennas 806, 808 are aligned along atleast two axes, resulting in a substantially same position for bothphase centers.

Referring to FIG. 14, the GNSS antenna 808 is capable of receiving GNSSsignals at one or more GNSS wavelengths, such as 19 or 24 centimeterwavelengths. In the embodiment shown in FIG. 14, the GNSS antenna 808 isa patch antenna, but other GNSS antennas may be used. An L1 antenna 808and optionally an L2 antenna 1606 are provided for receiving GNSSsignals.

The local antenna 806 receives X-band signals from different land-basedtransmitters. The local antenna 806 has a center axis extending througha center of the patch antennas of the GNSS antenna 808. The averagephase centers of the antennas 806, 808, 1606 reside along the centeraxis. The phase center is within at most one wavelength of the GNSSsignals from the phase center of the patch antenna 808.

FIG. 14 shows substantially co-located phase centers for GNSS antennas806 and/or 1606 and the microwave antenna 806. The local antenna 806 isimplemented as a patch antenna. For example, three patch antennasstacked on top of each other may be provided similar to the structuresdisclosed in U.S. Pat. No. 6,198,439, the disclosure of which isincorporated herein by reference. Rectangular or circular patches may beused. The local patch antenna 806 is positioned on the top of the GNSSantennas 808, 1606 and operates in a fundamental mode having ahemispherical radiation pattern. The feeds for the different patches806, 808, 1606 are separated or placed on common coaxial probe feeds andsplit by a diplexer on the back of the antenna. FIG. 14 shows splitfeeds with one coaxial probe feed 1602 connected to the local antenna806 and another probe feed 1604 connected with the GNSS antennas 808 and1606. Three dielectric layers 1402, 1404 and 1406 support the antennas806, 808, 1606. The dielectric layers determine the resonant frequenciesof the corresponding patches. The patches connect with the feed on adiagonal which connects to opposite corners of the rectangle. Two nearlydegenerate modes are excited 90° out-of-phase to achieve Right HandCircular Polarization (RHCP). Moving the feeds 1602, 1604 toward thecenter of the corresponding patch may reduce the input impedance of thefeed 1602, 1604. A 50 ohm input impedance may be obtained by properplacement of the probe.

FIGS. 15A and B show another embodiment of the local antenna 806 with asimilar or substantially same phase center as the GNSS antenna 808. FIG.15B is a cross-sectional view of the antenna structure shown inperspective view in FIG. 15A. The local antenna 806 is a patch antenna,such as an X-band patch antenna. As an alternative to the patch antennafor the GNSS signals, the GNSS antenna 808 and 1606 are ring antennas.The lower ring 1606 resonates at the L2 frequency, and the upper ring808 resonates at the L1 frequency. In alternative embodiments, the lowerring resonates at the L1 frequency and the upper ring resonates at theL2 frequency. In yet other alternative embodiments, only an L1 or onlyan L2 antenna is provided. The local antenna 806 is positioned betweenthe rings 808, 1606. The feed 1602 connects with the local antenna 806.The feed 1604 connects with the lower ring 1606. The feeds 1604, 1602are positioned or connected at the corners of the lower ring 1606 andlocal antenna 806, respectively, to provide a 50 ohms matchingresistance. A lower dielectric layer is positioned between the groundplane 1608 and the lower ring 1606. A middle dielectric layer ispositioned between the lower ring 1606 and upper ring 808. The microwaveantenna 806 is formed within the middle dielectric layer. An upperdielectric layer is positioned between the upper ring 808 and free spaceor other structure. The dielectric layers are sized to provide thedesired resonant frequencies of the metallic structures.

FIG. 16 shows yet another embodiment of the local antenna 806 with asimilar or substantially same phase center as the GNSS antenna 808. Thelocal antenna 806 is a microwave antenna, such as a quadrafilar helixantenna. The helix antenna is tuned to the desired frequency, such asthe X-band frequency of ranging signals. In one embodiment, the helixantenna has a diameter of less than a quarter of an inch and a height ofless than 0.4 inches, but other sizes may be used. The antenna is sizedto receive signals out of band from the GNSS antenna 808. Loopstructures are twisted along the vertical axis by one-half a turn, but aquarter turn, one-and-a-quarter turns or other number of turns may beused. The dimensions of the antenna for operation at 9,750 megahertz areLP=0.327 inches, H=0.295 inches and D=0.218 inches. The antenna 806extends from the patch antenna 808 along at least one dimension, such asalong an axis from the center of the GNSS antenna 808.

The helix antenna of the local antenna 806 connects with a feed 1602.Feeds are also provided at 1604 for the patch antenna 808. The entireantenna structure is mounted on a grounding plane 1608. The patchantenna feed 1604 is either an aperture coupled feed system or coaxialprobes. As a dual patch antenna 808, 1606, two rectangular metal patchesare stacked on top of each other with a common feed, such as one or twocoaxial probes of the feed system 1604. The phase center is nearlyco-located for the two patches and radiation patterns are nearlyidentical, being hemispherical and right-hand circularly polarized. Tointegrate the local antenna 806 onto the dual patch GNSS antenna 808,1606, a hole is formed through the center of the dual patch antennas808, 1606. The center corresponds to an electric field null region, soshorting the center of the patch to ground has no or limited effect. Thefeed 1602 is two coaxial cables through the hole. The cables carrysignals to and from the microwave antenna 806 which are 90° out ofphase. The phase shift is obtained by a 90° hybrid splitter etched on aprinted circuit board located underneath the ground plane 1608. The 90°phased signals from the two coaxial cables are delivered to the two loopstructures by a balun. The balun converts the unbalanced coaxial cablesignals to balanced or differential signals suitable for driving theloop structures of the local antenna 806. To avoid having metallicconductors within the volume of the helix, the antenna is fed from thebottom.

As an alternative to implementing the helix antenna loops with wireelements, the loops may be realized by etching a copper pattern on amicrowave laminate. The laminate is rolled into a cylindrical shape toachieve the desired geometry. A single feed line may pass through thecenter of the GNSS patches. The 90° phase shift and balun are etched onthe microwave laminate along with the radiating loop elements, providinga more compact integrated antenna.

Various embodiments of ranging or positioning systems are discussedabove. Corresponding methods and alternatives are also discussed above.FIG. 19 shows a flow chart of one embodiment of a method for determiningthe position of a receiver within a region of operation. The position isdetermined from a plurality of ranges from a receiver to land-basedtransmitters or other transmitters. The method is performed using thesystems described above or different systems. Additional, different orfewer acts may be provided, such as not performing the augmentation ofact 1918, or the differential positioning of act 1916, or not using oneore more of the characteristics of the transmitted ranging signal of1906-1912. As another example, a range is determined rather than adetermination of position in act 1920.

In act 1902, a ranging signal is generated from a land-basedtransmitter. The ranging signal is generated in response to signals froman oscillator. In one embodiment, the oscillator is unsynchronized withany remote oscillator, but may be synchronized in other embodiments. Theranging signal has a code and a carrier wave. The code is generated at amultiple of the frequency of the oscillator, such as a crystaloscillator. A dielectric resonator oscillator is phase locked to thecrystal oscillator. The carrier wave is generated as a function of thefrequency of the dielectric resonator oscillator. By mixing the codewith the carrier wave, the ranging signal is generated. The code may befurther modulated with a binary data signal. Other techniques may beused for generating a ranging signal.

In act 1904, the ranging signal with the code and carrier wave istransmitted. After amplification, the ranging signal is applied to anantenna for transmission. A ranging signal has any of the variouscharacteristics identified in acts 1906 through 1912. For example, theranging signal has a modulation rate of the code of greater than orequal to 30 MHz in act 1906. In one embodiment, the ranging signal has amodulation rate of the code being at least about 50 MHz. A modulationrate of at least about 150 MHz and less than 250 MHz is used in otherembodiments.

In act 1908, the code has a code length in space approximately equal toa longest dimension of a region of operation of a local positioningsystem. For example, the region of operation in space is less than about15 kilometers. The code length is more or less than the region ofoperation, such as being slightly longer than the region of operation inspace. Other code lengths may be used, such as code lengths less than10, 5, 1 or other number of kilometers. Greater code lengths may beused, such as code lengths more than twice the longest dimension of aregion of operation. Code lengths unrelated to the size of the region ofoperation may also be provided in alternative embodiments.

In act 1910, the transmitter ranging signals have a carrier wave in theX or ISM-band. For example, the ranging signals are transmitted as anX-band signal with about 60, 100, or up to 500 MHz of bandwidth. Greaterbandwidths or lesser bandwidths may be provided. In one embodiment, thebandwidth is about twice the modulation rate of the code. For ISM-bandcarrier waves, the bandwidth may be less, such as 50 MHZ, 60 MHZ orless.

In act 1912, the ranging signals are transmitted in a time slot with ablanking period. Ranging signals from different land-based transmittersare transmitted sequentially in different time slots. Each time slot isassociated with a blanking period, such as a subsequent time slot or atime period provided within a given time slot. The blanking periodcorresponds to no transmission, reduced amplitude transmission and/ortransmission of noise, no code or a different type of signal. Bytransmitting the code division multiple access ranging signals in a timedivision multiple access time slots, a greater dynamic range may beprovided. The blanking period is about as long as the code length. Thecodes from different transmitters have a substantially equal lengthwithin each of the different time slots. The corresponding blankingperiods also have substantially equal length. The blanking period mayhave duration substantially equal to the longest code of all of thetransmitted ranging signals in a temporal domain. Various time slots andassociated transmitters are synchronized to within at least 3microseconds, but greater or lesser tolerance may be provided. Thesynchronization for the time division multiple access preventsinterference of one transmitter from another transmitter. In alternativeembodiments, continuous transmission of code division multiple accesssignals without time division is used.

Transmission of the ranging signals from each of the differentland-based transmitters is repeated at least 10 times a second or atother repetition periods. Using a number of time slots and blankingperiods equal to or larger than a number of land-based transmittersallows for ranging signals for each of the land-based transmitters to bedetected separately. Alternatively, a fewer number of time slots areprovided than land-based transmitters. Some land-based transmitters areused for backup purposes and avoid transmission while a differenttransmitter is using a given time slot.

In act 1914, the local ranging signals are received at a mobilereceiver. For example, code division multiple access radio frequencyranging signals in an X or ISM-band are received. Alternatively oradditionally, local ranging signals in a GNSS-band are received. The Xor ISM-band signals are microwave signals from a land-based transmitter.The ranging signals are received within a region of operation. The codeof the ranging signals has a code length in space at least approximatelyequal to a longest dimension of the region of operation. For example, acode length for a 10 kilometer region of operation is between about 10and 15 kilometers. Shorter lengths may be used.

In act 1916, the ranging signals are also received at a referencestation or a second receiver spaced from the mobile receiver. The secondreceiver may be co-located with a land-based transmitter or spaced fromall land-based transmitters. By receiving the signals at two differentlocations, a differential position solution may be used.

Where the ranging signals are transmitted with time division multipleaccess, then the spread spectrum signals are received in time slots. Forexample, at least four different sets of spread spectrum signals arereceived in a respective at least four different time slots. Each of theat least four time slots has a period less than about 0.20 milliseconds,but other time periods may be provided. The coding of the rangingsignals may include both detection codes and tracking codes transmittedwithin a given time slot from a land-based transmitter. The receivergenerates a plurality of replica spread spectrum codes corresponding tothe received codes. The coding is used to identify one given transmitterfrom another transmitter. Alternatively, time slot assignments are usedto identify one transmitter from another transmitter so that a same ordifferent code may be used.

In act 1918, the local positioning system is augmented by receiving GNSSsignals in a different frequency band. The GNSS signals may be receivedat one receiver or two or more receivers for differential positiondetermination. Different antennas are used for receiving the differentfrequency signals. For example, one or more microstrip patch antennasare used for receiving GNSS signals. GNSS signals may be used todetermine a range with sub-meter accuracy using carrier phasemeasurements. The augmentation allows determination of the position as afunction of satellite signals as well as local positioning signals.Differential and/or RTK measurement of satellite signals may have acarrier wave based accuracy of better than 10 cm.

By using augmentation at 1918, a separate antenna is used for receivingthe local positioning ranging signals. The antenna is adapted forreceiving ISM-band, X-band or other microwave signals, such as by usinga patch, microstrip, helix, or dipole antenna. The antennas may beoffset or may be co-located. For example, the phase center of amicrowave antenna is within one wavelength of the GNSS frequency fromthe phase center of a GNSS antenna. The antennas are operable atdifferent frequencies, such as receiving local ranging signals at afrequency that is a higher frequency than the GNSS frequency band.

In act 1920, a position is determined as a function of ranges from aplurality of transmitters. Given the signal structure discussed abovefor act 1904, a range is determined as a function of a non-differentialcode phase measurement of the detection and tracking codes. Thedetection and tracking codes are either the same or different. Theposition may be determined within sub-meter accuracy using the localpositioning system signals. The ranging signals are received at asubstantially same center frequency, and the determination of positionis free of required movement of the receiver. For example, the code hasan accuracy of better than one meter, such as being better than about 10cm. Having a chip width of less than 10 meters, sub-meter accuracy basedon code phase measurements without carrier phase measurements isobtained with local positioning ranging signals.

For determining a more accurate range and corresponding position, adifferential measurement is computed at the receiver as a function ofdifferent ranging signals from different land-based transmitters. Theposition is determined as a function of the differential measurements ofthe ranging signals between different receivers. For differentialposition solutions, information responsive to ranging signals receivedat one receiver, such as phase measurements or other temporal offsetinformation, is communicated to another receiver.

Any combination of different ranging signals from different land-basedtransmitters and/or satellites may be used. For differentialmeasurement, a position vector from a reference station to a mobilereceiver is determined as a function of ranges or code phasemeasurements of the reference station relative to the mobile receiver tothe land-based transmitters. A position is determined whether or not themobile receiver is moving. Any combination of uses of ranging signalsfor determining position may be used, such as providing differentposition solutions based on a number of land-based transmitters andsatellites in view.

In one embodiment, the position is determined in act 1920 based onsynchronization between the clocks of the various land-based orsatellite transmitters. Alternatively, ranging signals from differentlocations are received in an asynchronous system. Code phases andcorresponding oscillators or clocks for generating the ranging signalsare free of synchronization between ranging signals. The ranging signalsfrom the plurality of transmitters are received on correspondingcommunications paths by a reference receiver. The communications pathscorrespond to X or ISM-bands for the local positioning system. Areference receiver determines a temporal offset of each of the codephases from the various transmitters. The temporal offsets are measuredas phases relative to a clock of the reference receiver or relative to aphase of one of the ranging signals. The time offset information is thengenerated and output on a wireless communications transmitter at adifferent frequency band than the frequency of the ranging signals.

In one embodiment, the temporal offset information is transmitted usinga wireless communication device in broadcast or direct fashion to one ormore mobile receivers. In another embodiment, the temporal offsetinformation is transmitted back to one or more of the land-basedtransmitters. Subsequent ranging signals transmitted from thetransmitters are responsive to the temporal offset information. Adifferent communications path than provided for the ranging signals isused to receive the temporal off-sets, such as a wireless non-rangingcommunications path. Frequencies other than the X-band and/or ISM-bandare used. Alternatively, a same communications path is used.

The temporal offset information is received at one or more of thetransmitters. The temporal offset information is provided to a mobilereceiver at the same carrier frequency as the ranging signals. Forexample, the temporal offset is transmitted as data with the rangingsignals. The ranging signal is modulated by the temporal offset or aparticular code is used to reflect the temporal offset. Withoutcommunication directly with the reference receiver, the mobile receiveris able to calculate differential phase information for ranging signals.A mobile receiver may alternatively or additionally be free ofcommunications with the transmitter other than the ranging signalmodulated by the timing offset information. One transmitter may transmitoffset information for ranging signals from the same transmitter, fromdifferent transmitters or combinations thereof. The transmitted timingoffset information indicates the relationship of the ranging signals toa common clock source, such as the reference receiver or an arbitrarilydesignated master transmitter. The temporal off-sets of the rangingsignals from various transmitters are all referred to the common clocksource, providing synchronization in an asynchronous system.

Modulated ranging signals are received at the mobile receiver free ofcommunications with transmitters other than the ranging signals. Theranging signals and timing offset information for differential positiondetermination are provided in a same communications path. The positionof the mobile receiver is then determined as a function of the rangingsignals from a plurality of different transmitters and the correspondingtemporal offset information measured at a reference receiver.

FIG. 20 shows one method for determining the position of the land-basedtransmitter. Different, additional or fewer acts may be provided inother embodiments. As an alternative to the method shown in FIG. 20, asurvey is performed to identify the location of the land-basedtransmitter. In act 2002, GNSS signals are received at a localpositioning system transmitter. The positions of one or more receiveantennas is determined. The receive antennas are connected with atransmitter support structure. The position or location of thetransmitter relative to the receive antennas is determined as a functionof the measured position of the receive antennas. The position of thereceive antennas is determined from GNSS signals, but laser or othermeasurements and corresponding signals may be used to determine theposition of the receive antennas.

By providing a rigid support carrying the receive antennas and thetransmitter, the position of the transmitter is determined. The phasecenter of the transmitter is aligned along an axis extending between orfrom the phase centers of one receive antenna to the phase center ofanother antenna. The transmitter is situated at the center of the axisbetween the receive antennas. Alternatively, the transmitter is offsetby a known amount from or along an axis extending between any tworeceivers. The position of the transmitter is then determined as afunction of the position of the receive antennas in act 2004.

FIG. 21 shows one embodiment of a method for determining position fromreceived ranging signals. Additional, different or fewer acts may beprovided. In act 2102, spread spectrum X or ISM-band signals aredecorrelated in the analog domain. Different codes corresponding todifferent time slots are decorrelated with a same decorrelator. Thecodes correspond to a same or different transmitter. A single analogchannel may be used for decorrelating signals from a plurality oftransmitters.

The decorrelated signals are then converted into digital signals. Arange is determined as a function of the decorrelated signals. A digitalchannel is used to track a code for determining the range. Decorrelationis performed in response to a one-way communication of spread spectrumX-band ranging signals in one embodiment.

In act 2104, ranging signals from a different source, such as a GNSSranging signals, are also decorrelated for use in determining theposition from two distinct ranging methods. The ranging signals are adirect sequence, spread spectrum signals. The GNSS signals aredecorrelated in a digital domain.

A replica code is mixed with the signals after converting the signalsfrom an analog-to-digital domain. A range is measured from the mixedGNSS signals. For example, one or more ranges are determined from globalpositioning system, GLONASS or a Galileo system. Either the code,carrier or both code and carrier phase of any number of frequencies ofthe GNSS signals are used to determine the range.

In act 2106, the range is determined as a function of both the localpositioning ranging signals and the GNSS ranging signals. Using at leastfive satellites and corresponding ranging signals, a carrier phase ofthe GNSS signals may provide for a real time kinematic solution forposition. Code phase from the local positioning system may allow fordetermination of a position from four or more transmitters. The localcode phase range accuracy is better than one wavelength of a carrier ofa GNSS signals. For example, the wavelength of the carrier of the GNSSsignals is greater than 12 cm and the code phase accuracy of the localpositioning ranging signals is better than 12 cm. The code accuracy isprovided by having a modulation rate of the local positioning rangingsignals greater than GNSS ranging signals, such as a modulation rate atleast three times the modulation rate of the GNSS signals. FIG. 13 showsone embodiment of the determination of position from ranges using twodifferent methodologies. In alternative embodiments, different positionsolutions are used.

FIG. 22 shows a method for determining the position with distributedreceiver components. For example, FIG. 22 shows a method for determiningranging information from global or local radio frequency ranging signalsusing a separated down converter from the other portions of thereceiver. The separated down conversion is performed prior to or afterdecorrelation. The received ranging signals are down converted to anintermediate frequency as a function of a reference frequency in act2202. The reference frequency is output from a back-end of the receiverand transmitted to the down converter along a communications path in act2204. For example, the reference frequency is transmitted over a cable.The same cable may be used for transmitting the down convertedintermediate frequency ranging signals. A signal splitter isolates thereference signal from the down converted signal for down converting.

In act 2204, a remote down converter is powered from the primaryreceiver. A DC power signal is provided from the primary receiver to theremote down converter. The power is used for implementing the downconversion.

The down converted intermediate frequency signals are transmitted to theremote portions of the receiver. In one embodiment, the receiver isseparated from the down converter by a meter or more of distance. Thedown converted signals are transmitted through a coaxial cable, butother cables may be used.

In act 2204, two or more of the reference frequency, power signal andintermediate frequency ranging signals are provided on a same signalline, such as on a same cable or communications path. A plurality ofcommunications paths and corresponding cables may be provided where oneor more of the cables include two different signals. The differentsignals are provided at different frequencies, such as an intermediatefrequency different than the power or a reference signal.

In act 2206, ranging information is determined from the transmitted downconverted signals. The portion of the receiver that supplies thereference frequency and power to the down converter also performsposition determination. The back-end portion of the receiver may furtherdown-convert and/or decorrelate signals with separate channels for eachof the ranging signals, such as ranging signals received in differenttime slots. The code phase of the decorrelated signals is then measuredfor determining position information.

Ranging signals from a GNSS system may also share a same or a pluralityof cables with any of the intermediate frequency local positioningranging signals, power signals and/or reference signals. The positionmay be determined as a function of both signals from the GNSS rangingand local positioning system ranging.

While the invention has been described above by reference to variousembodiments, it should be understood that many changes and modificationscan be made without departing from the scope of the invention. It istherefore intended that the foregoing detailed description be regardedas illustrative rather than limiting, and that it be understood that itis the following claims, including all equivalents, that are intended todefine the spirit and scope of this invention.

1. In a method for determining relative position of a receiver fromranging signals transmitted from stationary land-based transmitters, animprovement comprising: (a) determining the position to within sub-meteraccuracy with differential ranging of the ranging signals from theland-based transmitters along line-of-sight to the receiver and rangingsignals from the land-based transmitters along line-of-sight to areference station, the ranging signals being at a substantially samecenter frequency, the determination being free of required movement ofthe receiver.
 2. The method of claim 1 wherein (a) comprises determiningthe position to within at least 10 centimeter accuracy.
 3. The method ofclaim 1 wherein the ranging signals have a carrier wave bandwidth of atleast 60 MHz in an X-band and a modulation rate of code of at least 30MHz.
 4. The method of claim 1 wherein the ranging signals have a carrierwave in an ISM band and a modulation rate of code of at least 30 MHz. 5.The method of claim 1 wherein (a) comprises determining the positionfrom differential ranging of the ranging signals from at least threestationary land-based transmitters received at the reference station andthe receiver.
 6. The method of claim 5 wherein (a) comprises determiningthe position where the receiver is moving.
 7. The method of claim 1wherein (a) comprises determining a position vector from the referencestation to the receiver as a function of ranges of the reference stationand the receiver to the stationary land-based transmitters.
 8. Themethod of claim 1 wherein (a) comprises determining the position fromcode of the ranging signals, the sub-meter accuracy being from the codehaving a chip width of less than ten meters.
 9. The method of claim 1wherein the center frequency of the ranging signals is an X-bandfrequency.
 10. The method of claim 1 wherein the center frequency of theranging signals is an ISM band frequency.